root / trunk / code / projects / linefollowing / main.c @ 1858
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| 1 | 16 | bcoltin | #include <dragonfly_lib.h> |
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| 2 | 1841 | djacobs | #include <lineFollow.h> |
| 3 | 16 | bcoltin | |
| 4 | 1836 | dgurjar | |
| 5 | 1838 | dgurjar | |
| 6 | 857 | bcoltin | int main(void) |
| 7 | {
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| 8 | 1419 | jsexton | |
| 9 | 967 | alevkoy | /* initialize components, set wireless channel */
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| 10 | 857 | bcoltin | dragonfly_init(ALL_ON); |
| 11 | 1841 | djacobs | lineFollow_init(); |
| 12 | 1842 | djacobs | int barCode;
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| 13 | 1841 | djacobs | while(1) |
| 14 | 1842 | djacobs | {
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| 15 | 1854 | djacobs | |
| 16 | |||
| 17 | for(int q=0; q<500; q++) |
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| 18 | 1851 | djacobs | barCode = lineFollow(200);
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| 19 | 1854 | djacobs | while(mergeLeft());
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| 20 | for(int q=0; q<1000; q++)lineFollow(200); |
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| 21 | |||
| 22 | continue;
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| 23 | 1853 | djacobs | if(barCode==-25)while(turnRight()); |
| 24 | 1851 | djacobs | continue;
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| 25 | 1845 | dgurjar | if(barCode != -2 && barCode != LINELOST) |
| 26 | {
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| 27 | usb_puti(barCode); |
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| 28 | usb_putc('\n');
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| 29 | } |
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| 30 | /*
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| 31 | |||
| 32 | 1842 | djacobs | switch (barCode)
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| 33 | 1845 | dgurjar | {
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| 34 | |||
| 35 | |||
| 36 | case 0: orb_set_color(RED); break;
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| 37 | case 1: orb_set_color(ORANGE); break;
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| 38 | case 2: orb_set_color(YELLOW); break;
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| 39 | case 3: orb_set_color(LIME); break;
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| 40 | case 4: orb_set_color(GREEN); break;
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| 41 | case 5: orb_set_color(CYAN); break;
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| 42 | case 6: orb_set_color(BLUE); break;
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| 43 | case 7: orb_set_color(PINK); break;
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| 44 | case 8: orb_set_color(PURPLE); break;
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| 45 | case 9: orb_set_color(MAGENTA); break;
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| 46 | default: orb_set_color(WHITE); break;
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| 47 | |||
| 48 | 1842 | djacobs | case 0:
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| 49 | straight();
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| 50 | turnRight();
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| 51 | break;
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| 52 | case 2:
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| 53 | straight();
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| 54 | break;
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| 55 | case 3:
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| 56 | straight();
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| 57 | turnLeft();
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| 58 | break;
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| 59 | 1845 | dgurjar | |
| 60 | 1842 | djacobs | }
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| 61 | 1845 | dgurjar | */
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| 62 | 1842 | djacobs | } |
| 63 | 1836 | dgurjar | return 0; |
| 64 | } |
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| 65 | 1851 | djacobs | void right()
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| 66 | 1842 | djacobs | {
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| 67 | motor_r_set(BACKWARD, 200);
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| 68 | motor_l_set(FORWARD, 200);
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| 69 | delay_ms(400);
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| 70 | } |
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| 71 | |||
| 72 | |||
| 73 | void straight()
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| 74 | {
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| 75 | motor_r_set(FORWARD, 210);
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| 76 | motor_l_set(FORWARD, 210);
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| 77 | delay_ms(200);
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| 78 | move(0,0); |
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| 79 | delay_ms(2000);
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| 80 | } |
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| 81 | |||
| 82 | 1851 | djacobs | void left()
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| 83 | 1842 | djacobs | {
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| 84 | motor_l_set(BACKWARD, 200);
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| 85 | motor_r_set(FORWARD, 200);
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| 86 | delay_ms(400);
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| 87 | } |