root / trunk / code / projects / linefollowing / lineFollow.h @ 1845
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#include <dragonfly_lib.h> |
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#ifndef _LINEFOLLOW_H_
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#define _LINEFOLLOW_H_
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#define WHITE 0 |
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#define GREY 1 |
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#define BLACK 2 |
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#define CENTER 3 |
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#define NOLINE -42 |
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#define SPEED 170 |
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#define LINELOST -1 |
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/* lineFollow_init
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Must call before lineFollow
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Turns analog loop off
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*/
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void lineFollow_init();
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/* lineFollow
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Must call lineFollow first
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Must be called inside a loop
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*/
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int lineFollow();
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/* assignColor
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Converts an analog color to WHITE or BLACK
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*/
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int assignColor(int port, int analog); |
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/* updateIR
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Gets the value of the nth line sensor
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*/
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int updateIR(int n); |
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/* updateLine
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Fills the given array with WHITE
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or BLACK representing the line
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*/
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void updateLine(int* values); |
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/* lineLocate
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Finds the location of the line
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Outputs positive for right side
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Negative for left, or NOLINE if a line is not found
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*/
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int lineLocate(int* colors); |
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//Not implemented yet, returns ???
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void updateBarCode();
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/* min
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returns the minimum of two values
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*/
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int min(int x, int y); |
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/* motorLeft
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Commands the left motor
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Cannot be used to stop
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0-126 are backward
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127-255 are forward
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*/
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void motorLeft(int speed); |
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/* motorRight
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Commands the right motor
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Cannot be used to stop
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0-126 are backward
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127-255 are forward
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*/
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void motorRight(int speed); |
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/* lost
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Internal counter to detect if the line was lost
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*/
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int lost;
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#endif
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