Revision 1838
Working code that outputs orbs for the darker side
| trunk/code/projects/linefollowing/main.c | ||
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| 3 | 3 |
#define WHITE 0 |
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#define GREY 1 |
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#define BLACK 2 |
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#define COLOR_BUFFER 10
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#define COLOR_BUFFER 10 |
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#define CENTER 3 |
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#define NOLINE -42 |
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int assignColor(int port, int analog); |
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int updateIR(int n); |
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void updateLine(int* values); |
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int lineLocate(int* colors); |
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int straightLineFollow(); |
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int main(void) |
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{
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|
| ... | ... | |
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return 0; |
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} |
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//Converts an analog color to the ternary black, grey, white system. |
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//If the value is between two codes, the port is read again and the function is called again |
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int asssignColor(int analog)
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int assignColor(int port, int analog)
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{
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int color; |
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if(analog < 341-COLOR_BUFFER) |
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color = WHITE; |
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else if (analog < 341+COLOR_BUFFER) |
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color = assignColor(updateIR(port)); |
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color = assignColor(port, updateIR(port));
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else if (analog < 682-COLOR_BUFFER) |
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color = GREY; |
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else if (analog < 682+COLOR_BUFFER) |
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color = assignColor(updateIR(port)); |
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color = assignColor(port, updateIR(port));
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else |
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color = BLACK; |
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|
| ... | ... | |
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//maps the sensors to the analog input ports |
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int ports[2] = {8,1};
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return analog10(ports[1]) | analog10(ports[2]; |
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return analog10(ports[1]) | analog10(ports[2]);
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} |
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// updates all of the values, and assigns them new colors |
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int* updateLine(int* values)
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void updateLine(int* values)
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{
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int i; |
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for(i = 0; i<5; i++) |
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values[i] = assignColor(i, updateIR(i)); |
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return values; |
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} |
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// updates all of the values, and assigns them new colors |
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int* updateLine(int* values) |
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{
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int i; |
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values[i] = assignColor(i, updateIR(i)); |
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return values; |
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} |
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// given an array of ints this function will take the arrays weighted average. High numbers indicate that a left turn is needed. Low numberes indicate that a right turn is needed. |
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int lineLocate(int[] colors)
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int lineLocate(int* colors)
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{
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int i; |
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int wsum = 0; |
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int count=0; |
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for(i = 0; i<5; i++) |
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wsum += (i+1)*colors[i]; |
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return (wsum/15) -1; |
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{
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count+=(colors[i]+1)/2; |
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wsum += (i)*colors[i]; |
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} |
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if(count==0) |
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return NOLINE; |
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return (wsum/count)-4; |
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} |
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//The robot will follow a line until it is interrupted by a barcode. |
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int straightLineFollow() |
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{
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int colors[5];
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int colors[6];
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int location = 0; |
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while(1) |
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{
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colors = updateLine(colors);
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updateLine(colors); |
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location = lineLocate(colors); |
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//not on line |
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if(location == NOLINE) |
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{
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orb1_set_color(GREEN); |
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orb2_set_color(GREEN); |
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} |
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//turn left |
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if(location > 3)
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else if(location > 0)
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{
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orb1_set_color(GREEN); |
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orb2_set_color(ORB_OFF); |
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} |
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//turn right |
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else if(location < 3)
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else if(location < 0)
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{
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orb1_set_color(ORB_OFF); |
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orb2_set_color(GREEN); |
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} |
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else |
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{
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orb1_set_color(ORB_OFF); |
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orb2_set_color(ORB_OFF); |
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} |
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} |
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return 0; |
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} |
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