Revision 1845

View differences:

trunk/code/projects/linefollowing/lineFollow.c
1 1
#include "lineFollow.h"
2 2

  
3 3
#define NOBARCODE -2
4
#define CODESIZE 2
4
#define CODESIZE 5 
5 5

  
6 6
int countHi = 0;
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int countLo = 0;
......
41 41
	{
42 42
		position*=30;
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		orb2_set_color(ORB_OFF);
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		motorLeft(min(SPEED+position, 255));
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		motorRight(min(SPEED-position, 255));
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		motorLeft(min(SPEED+position, 150));
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		motorRight(min(SPEED-position, 150));
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		lost=0;
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	}
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	updateBarCode();
......
95 95

  
96 96
	for(i = 0; i<5; i++)
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	{
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		count+=(colors[i]+1)/2;
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		count += colors[i]/2;
99 99
		wsum += (i)*colors[i];
100 100
	}
101 101
	if(count==0)
......
114 114
	current[1] = analog_get10(1);
115 115
//	usb_puti(analog_get10(8));
116 116
//	usb_putc('\t');
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	usb_puti(analog_get10(1));
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	usb_putc('\n');
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//	usb_puti(analog_get10(1));
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//	usb_putc('\n');
119 119

  
120 120
	if(current[1]>500)
121 121
	{
......
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			maxAvg = max(maxAvg, avg);
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		}
133 133
	}
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	else if(countHi>10)
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	else if(countHi>5)
135 135
	{
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		if(countLo++>15)
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		{
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			countHi=countLo=0;
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		//	if(maxAvg>825)orb1_set_color(RED);
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		//	else orb1_set_color(BLUE);
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			if(maxAvg>825)orb1_set_color(RED);
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			else orb1_set_color(BLUE);
141 141
			barCode[barCodePosition++] = (maxAvg > 825 ? 2:1)-1;
142 142
		}
143 143
	}
......
150 150
int max(int x, int y){return x<y ? y : x;}
151 151

  
152 152
void motorLeft(int speed){
153
	speed-=127;
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	if(speed>=0)motor_l_set(FORWARD, 160+speed*95/128);
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	else motor_l_set(BACKWARD, 160-speed*95/127);
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	((speed-=127)>=0)?motor_l_set(FORWARD, 160+speed*95/128):motor_l_set(BACKWARD, 160-speed*95/127);
156 154
}
157 155

  
158 156
void motorRight(int speed){
159
        speed-=127;
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        if(speed>=0)motor_r_set(FORWARD, 160+speed*95/128);
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        else motor_r_set(BACKWARD, 160-speed*95/127);
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        ((speed-=127)>=0)?motor_r_set(FORWARD, 160+speed*95/128):motor_r_set(BACKWARD, 160-speed*95/127);
162 158
}
163 159

  
trunk/code/projects/linefollowing/Makefile
11 11
USE_WIRELESS = 1
12 12

  
13 13
# com1 = serial port. Use lpt1 to connect to parallel port.
14
AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)
14
AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/tty.usbserial-*'; fi)
15 15

  
16 16
else
17 17
COLONYROOT := ../$(COLONYROOT)
trunk/code/projects/linefollowing/lineFollow.h
8 8
#define BLACK	 		2
9 9
#define CENTER			3
10 10
#define NOLINE			-42
11
#define SPEED			200
11
#define SPEED			170
12 12
#define LINELOST		-1
13 13

  
14 14
/* 	lineFollow_init
trunk/code/projects/linefollowing/main.c
13 13
	while(1)
14 14
	{
15 15
		barCode = lineFollow();
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		if(barCode != -2 && barCode != LINELOST)
17
		{
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			usb_puti(barCode);
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			usb_putc('\n');
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		}
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/*		
22

  
16 23
		switch (barCode)
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		{
24
		{	
25

  
26
		
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			case 0: orb_set_color(RED); break;
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			case 1: orb_set_color(ORANGE); break;
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			case 2: orb_set_color(YELLOW); break;
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			case 3: orb_set_color(LIME); break;
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			case 4: orb_set_color(GREEN); break;
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			case 5: orb_set_color(CYAN); break;
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			case 6: orb_set_color(BLUE); break;
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			case 7: orb_set_color(PINK); break;
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			case 8: orb_set_color(PURPLE); break;
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			case 9: orb_set_color(MAGENTA); break;
37
			default: orb_set_color(WHITE); break;
38
	
18 39
			case 0:
19 40
				straight();
20 41
				turnRight();
......
26 47
	                        straight();
27 48
				turnLeft();
28 49
        	                break;
50
		
29 51
		}
52
*/	
30 53
	}
31 54
	return 0;
32 55
}

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