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root / trunk / code / projects / linefollowing / main.c @ 1845

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#include <dragonfly_lib.h>
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#include <lineFollow.h>
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int main(void)
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{
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        /* initialize components, set wireless channel */
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        dragonfly_init(ALL_ON);
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        lineFollow_init();
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        int barCode;
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        while(1)
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        {
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                barCode = lineFollow();
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                if(barCode != -2 && barCode != LINELOST)
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                {
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                        usb_puti(barCode);
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                        usb_putc('\n');
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                }
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/*                
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                switch (barCode)
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                {        
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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;
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                        default: orb_set_color(WHITE); break;
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                        case 0:
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                                straight();
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                                turnRight();
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                                break;
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                        case 2:
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                                straight();
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                                break;
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                        case 3:
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                                straight();
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                                turnLeft();
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                                break;
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                }
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*/        
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        }
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        return 0;
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}
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void turnRight()
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{
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motor_r_set(BACKWARD, 200);
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motor_l_set(FORWARD, 200);
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delay_ms(400);
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}
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void straight()
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{
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motor_r_set(FORWARD, 210);
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motor_l_set(FORWARD, 210);
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delay_ms(200);
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move(0,0);
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delay_ms(2000);
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}
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void turnLeft()
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{
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motor_l_set(BACKWARD, 200);
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motor_r_set(FORWARD, 200);
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delay_ms(400);
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}