Revision 1858
Updated line following code from line following project
| trunk/code/projects/traffic_navigation/lineFollow.h | ||
|---|---|---|
| 3 | 3 |
#ifndef _LINEFOLLOW_H_ |
| 4 | 4 |
#define _LINEFOLLOW_H_ |
| 5 | 5 |
|
| 6 |
#define LWHITE 0 |
|
| 7 |
#define LGREY 1 |
|
| 8 |
#define LBLACK 2 |
|
| 6 | 9 |
#define CENTER 3 |
| 7 | 10 |
#define NOLINE -42 |
| 8 |
#define SPEED 170 |
|
| 9 | 11 |
#define LINELOST -1 |
| 10 | 12 |
|
| 13 |
#define NOBARCODE -2 |
|
| 14 |
#define INTERSECTION -25 |
|
| 15 |
#define FULL_LINE -26 |
|
| 16 |
|
|
| 17 |
|
|
| 18 |
|
|
| 11 | 19 |
/* lineFollow_init |
| 12 | 20 |
Must call before lineFollow |
| 13 | 21 |
Turns analog loop off |
| 14 | 22 |
*/ |
| 15 |
void lineFollow_init(); |
|
| 23 |
void lineFollow_init(void);
|
|
| 16 | 24 |
|
| 17 | 25 |
/* lineFollow |
| 18 | 26 |
Must call lineFollow first |
| 19 | 27 |
Must be called inside a loop |
| 20 | 28 |
*/ |
| 21 |
int lineFollow(); |
|
| 29 |
int lineFollow(int speed);
|
|
| 22 | 30 |
|
| 23 |
/* assignColor |
|
| 24 |
Converts an analog color to WHITE or BLACK |
|
| 31 |
/* turnLeft turnRight mergeLeft mergeRight |
|
| 32 |
Must be called inside a loop |
|
| 33 |
returns 0 when complete |
|
| 25 | 34 |
*/ |
| 26 |
int assignColor(int port, int analog); |
|
| 35 |
int turnLeft(void); |
|
| 36 |
int turnRight(void); |
|
| 37 |
int mergeLeft(void); |
|
| 38 |
int mergeRight(void); |
|
| 27 | 39 |
|
| 28 |
/* updateIR |
|
| 29 |
Gets the value of the nth line sensor |
|
| 30 |
*/ |
|
| 31 |
int updateIR(int n); |
|
| 32 |
|
|
| 33 | 40 |
/* updateLine |
| 41 |
Reads in the analog values |
|
| 34 | 42 |
Fills the given array with WHITE |
| 35 | 43 |
or BLACK representing the line |
| 36 | 44 |
*/ |
| ... | ... | |
| 43 | 51 |
*/ |
| 44 | 52 |
int lineLocate(int* colors); |
| 45 | 53 |
|
| 46 |
//Not implemented yet, returns ??? |
|
| 47 |
void updateBarCode(); |
|
| 54 |
/* updatebarCode |
|
| 55 |
Reads in and processes |
|
| 56 |
bar code data |
|
| 57 |
*/ |
|
| 58 |
void updateBarCode(void); |
|
| 48 | 59 |
|
| 49 |
/* min |
|
| 50 |
returns the minimum of two values |
|
| 60 |
/* getBarCode |
|
| 61 |
returns a bar code, if |
|
| 62 |
available, otherwise NOBARCODE |
|
| 51 | 63 |
*/ |
| 64 |
int getBarCode(void); |
|
| 65 |
|
|
| 66 |
/* min max |
|
| 67 |
returns the minimum/maximum of two values |
|
| 68 |
*/ |
|
| 52 | 69 |
int min(int x, int y); |
| 70 |
int max(int x, int y); |
|
| 53 | 71 |
|
| 54 | 72 |
/* motorLeft |
| 55 | 73 |
Commands the left motor |
| trunk/code/projects/traffic_navigation/lineFollow.c | ||
|---|---|---|
| 1 |
#include "lineFollow.h" |
|
| 1 | 2 |
|
| 2 |
#include <lineFollow.h> |
|
| 3 |
|
|
| 4 |
#define NOBARCODE -2 |
|
| 5 | 3 |
#define CODESIZE 5 |
| 6 | 4 |
|
| 7 | 5 |
int countHi = 0; |
| ... | ... | |
| 10 | 8 |
int barCode[ CODESIZE ]; |
| 11 | 9 |
int barCodePosition=0; |
| 12 | 10 |
|
| 11 |
int turnDistance=0; |
|
| 12 |
int intersectionFilter=0; |
|
| 13 |
int disableBarCode=0; |
|
| 14 |
|
|
| 15 |
|
|
| 13 | 16 |
void lineFollow_init() |
| 14 | 17 |
{
|
| 15 | 18 |
analog_init(0); |
| 16 | 19 |
lost = 0; |
| 20 |
intersectionFilter=0; |
|
| 21 |
disableBarCode=0; |
|
| 17 | 22 |
} |
| 18 | 23 |
|
| 19 | 24 |
|
| 20 | 25 |
|
| 21 |
int lineFollow() |
|
| 26 |
int lineFollow(int speed)
|
|
| 22 | 27 |
{
|
| 23 |
int colors[6];
|
|
| 28 |
int colors[5];
|
|
| 24 | 29 |
int position; |
| 25 | 30 |
|
| 26 | 31 |
|
| ... | ... | |
| 37 | 42 |
return LINELOST; |
| 38 | 43 |
} |
| 39 | 44 |
} |
| 45 |
else if(position == FULL_LINE) |
|
| 46 |
{
|
|
| 47 |
if(intersectionFilter++>4) |
|
| 48 |
{
|
|
| 49 |
orb2_set_color(RED); |
|
| 50 |
barCodePosition=0; |
|
| 51 |
disableBarCode=50; |
|
| 52 |
} |
|
| 53 |
} |
|
| 40 | 54 |
//on line |
| 41 | 55 |
else |
| 42 | 56 |
{
|
| 43 | 57 |
position*=30; |
| 44 | 58 |
orb2_set_color(ORB_OFF); |
| 45 |
motorLeft(min(SPEED+position, 150));
|
|
| 46 |
motorRight(min(SPEED-position, 150));
|
|
| 59 |
motorLeft(min(speed+position, 255));
|
|
| 60 |
motorRight(min(speed-position, 255));
|
|
| 47 | 61 |
lost=0; |
| 62 |
intersectionFilter=0; |
|
| 48 | 63 |
} |
| 64 |
|
|
| 65 |
if(disableBarCode--) |
|
| 66 |
{
|
|
| 67 |
if(disableBarCode)return NOBARCODE; |
|
| 68 |
return INTERSECTION; |
|
| 69 |
} |
|
| 49 | 70 |
updateBarCode(); |
| 50 | 71 |
return getBarCode(); |
| 51 | 72 |
} |
| 52 | 73 |
|
| 53 |
int getBarCode(){
|
|
| 74 |
|
|
| 75 |
int mergeLeft() |
|
| 76 |
{
|
|
| 77 |
motor_l_set(FORWARD, 200); |
|
| 78 |
if(turnDistance!=21)motor_r_set(FORWARD, 230); |
|
| 79 |
else motor_r_set(FORWARD, 210); |
|
| 80 |
int colors[5]; |
|
| 81 |
updateLine(colors); |
|
| 82 |
int position = lineLocate(colors); |
|
| 83 |
if(position>3 || position<-3)turnDistance++; |
|
| 84 |
|
|
| 85 |
if(turnDistance>20) |
|
| 86 |
{
|
|
| 87 |
turnDistance=21; |
|
| 88 |
|
|
| 89 |
if(position<3 && position>-3) |
|
| 90 |
{
|
|
| 91 |
turnDistance = 0; |
|
| 92 |
return 0; |
|
| 93 |
} |
|
| 94 |
} |
|
| 95 |
return 1; |
|
| 96 |
} |
|
| 97 |
|
|
| 98 |
|
|
| 99 |
int mergeRight() |
|
| 100 |
{
|
|
| 101 |
motor_r_set(FORWARD, 200); |
|
| 102 |
if(turnDistance!=21)motor_l_set(FORWARD, 230); |
|
| 103 |
else motor_l_set(FORWARD, 210); |
|
| 104 |
int colors[5]; |
|
| 105 |
updateLine(colors); |
|
| 106 |
int position = lineLocate(colors); |
|
| 107 |
if(position>3 || position<-3)turnDistance++; |
|
| 108 |
|
|
| 109 |
if(turnDistance>20) |
|
| 110 |
{
|
|
| 111 |
turnDistance=21; |
|
| 112 |
|
|
| 113 |
if(position<3 && position>-3) |
|
| 114 |
{
|
|
| 115 |
turnDistance = 0; |
|
| 116 |
return 0; |
|
| 117 |
} |
|
| 118 |
} |
|
| 119 |
return 1; |
|
| 120 |
} |
|
| 121 |
|
|
| 122 |
|
|
| 123 |
|
|
| 124 |
int turnLeft() |
|
| 125 |
{
|
|
| 126 |
motor_l_set(BACKWARD, 200); |
|
| 127 |
motor_r_set(FORWARD, 200); |
|
| 128 |
int colors[5]; |
|
| 129 |
updateLine(colors); |
|
| 130 |
int position = lineLocate(colors); |
|
| 131 |
if(position>2 || position<-2)turnDistance++; |
|
| 132 |
if(turnDistance>1) |
|
| 133 |
{
|
|
| 134 |
if(position<3 && position>-3) |
|
| 135 |
{
|
|
| 136 |
turnDistance = 0; |
|
| 137 |
return 0; |
|
| 138 |
} |
|
| 139 |
} |
|
| 140 |
return 1; |
|
| 141 |
} |
|
| 142 |
|
|
| 143 |
|
|
| 144 |
|
|
| 145 |
int turnRight() |
|
| 146 |
{
|
|
| 147 |
motor_r_set(BACKWARD, 200); |
|
| 148 |
motor_l_set(FORWARD, 200); |
|
| 149 |
int colors[5]; |
|
| 150 |
updateLine(colors); |
|
| 151 |
int position = lineLocate(colors); |
|
| 152 |
if(position>2 || position<-2)turnDistance++; |
|
| 153 |
if(turnDistance>1) |
|
| 154 |
{
|
|
| 155 |
if(position<3 && position>-3) |
|
| 156 |
{
|
|
| 157 |
turnDistance = 0; |
|
| 158 |
return 0; |
|
| 159 |
} |
|
| 160 |
} |
|
| 161 |
return 1; |
|
| 162 |
} |
|
| 163 |
|
|
| 164 |
|
|
| 165 |
|
|
| 166 |
|
|
| 167 |
int getBarCode() |
|
| 168 |
{
|
|
| 54 | 169 |
if(barCodePosition!=CODESIZE) return NOBARCODE ; |
| 55 | 170 |
int temp = 0; |
| 56 | 171 |
int i; |
| ... | ... | |
| 64 | 179 |
|
| 65 | 180 |
void updateLine(int* values) |
| 66 | 181 |
{
|
| 182 |
int ports[5] = {13, 12, 3, 2, 9};
|
|
| 67 | 183 |
for(int i = 0; i<5; i++) |
| 68 |
values[i] = assignColor(i, updateIR(i));
|
|
| 184 |
values[i] = analog_get10(ports[i])<150 ? LWHITE : LBLACK;
|
|
| 69 | 185 |
} |
| 70 | 186 |
|
| 71 | 187 |
|
| 72 |
int updateIR(int n) |
|
| 73 |
{
|
|
| 74 |
//maps the sensors to the analog input ports |
|
| 75 |
int ports[5] = {13, 12, 3, 2, 9};
|
|
| 76 | 188 |
|
| 77 |
return analog_get10(ports[n]); |
|
| 78 |
} |
|
| 79 |
|
|
| 80 |
|
|
| 81 |
|
|
| 82 |
int assignColor(int port, int analog) |
|
| 83 |
{
|
|
| 84 |
if (analog < 150) |
|
| 85 |
return 0; |
|
| 86 |
else |
|
| 87 |
return 2; |
|
| 88 |
} |
|
| 89 |
|
|
| 90 |
|
|
| 91 | 189 |
int lineLocate(int* colors) |
| 92 | 190 |
{
|
| 93 | 191 |
int i; |
| ... | ... | |
| 100 | 198 |
wsum += (i)*colors[i]; |
| 101 | 199 |
} |
| 102 | 200 |
if(count==0) |
| 103 |
return NOLINE; |
|
| 104 |
|
|
| 201 |
return NOLINE; |
|
| 202 |
if(count==5) |
|
| 203 |
return FULL_LINE; |
|
| 105 | 204 |
return (wsum/count)-4; |
| 106 | 205 |
} |
| 107 | 206 |
|
| 108 | 207 |
|
| 109 | 208 |
void updateBarCode() |
| 110 | 209 |
{
|
| 210 |
|
|
| 211 |
//NOTE: currently only uses one of the barcode sensors. |
|
| 212 |
|
|
| 111 | 213 |
//maps the sensors to the analog input ports |
| 112 | 214 |
int ports[2] = {8,1};
|
| 113 | 215 |
int current[2]; |
| 114 |
// current[0] = analog_get10(8); |
|
| 115 |
current[1] = analog_get10(1); |
|
| 116 |
// usb_puti(analog_get10(8)); |
|
| 117 |
// usb_putc('\t');
|
|
| 118 |
// usb_puti(analog_get10(1)); |
|
| 119 |
// usb_putc('\n');
|
|
| 216 |
// current[0] = analog_get10(ports[0]); |
|
| 217 |
current[1] = analog_get10(ports[1]); |
|
| 120 | 218 |
|
| 121 | 219 |
if(current[1]>500) |
| 122 | 220 |
{
|
| ... | ... | |
| 139 | 237 |
countHi=countLo=0; |
| 140 | 238 |
if(maxAvg>825)orb1_set_color(RED); |
| 141 | 239 |
else orb1_set_color(BLUE); |
| 142 |
barCode[barCodePosition++] = (maxAvg > 825 ? 2:1)-1;
|
|
| 240 |
barCode[barCodePosition++] = maxAvg > 825 ? 1:0;
|
|
| 143 | 241 |
} |
| 144 | 242 |
} |
| 145 | 243 |
else countHi/=2; |
Also available in: Unified diff