Revision 1858
Updated line following code from line following project
| lineFollow.c | ||
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#include "lineFollow.h" |
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#include <lineFollow.h> |
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#define NOBARCODE -2 |
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#define CODESIZE 5 |
| 6 | 4 |
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int countHi = 0; |
| ... | ... | |
| 10 | 8 |
int barCode[ CODESIZE ]; |
| 11 | 9 |
int barCodePosition=0; |
| 12 | 10 |
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int turnDistance=0; |
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int intersectionFilter=0; |
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int disableBarCode=0; |
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void lineFollow_init() |
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{
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analog_init(0); |
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lost = 0; |
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intersectionFilter=0; |
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disableBarCode=0; |
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} |
| 18 | 23 |
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int lineFollow() |
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int lineFollow(int speed)
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{
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int colors[6];
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int colors[5];
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int position; |
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|
| ... | ... | |
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return LINELOST; |
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} |
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} |
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else if(position == FULL_LINE) |
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{
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if(intersectionFilter++>4) |
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{
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orb2_set_color(RED); |
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barCodePosition=0; |
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disableBarCode=50; |
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} |
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} |
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//on line |
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else |
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{
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position*=30; |
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orb2_set_color(ORB_OFF); |
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motorLeft(min(SPEED+position, 150));
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motorRight(min(SPEED-position, 150));
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motorLeft(min(speed+position, 255));
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motorRight(min(speed-position, 255));
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lost=0; |
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intersectionFilter=0; |
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} |
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if(disableBarCode--) |
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{
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if(disableBarCode)return NOBARCODE; |
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return INTERSECTION; |
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} |
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updateBarCode(); |
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return getBarCode(); |
| 51 | 72 |
} |
| 52 | 73 |
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int getBarCode(){
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int mergeLeft() |
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{
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motor_l_set(FORWARD, 200); |
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if(turnDistance!=21)motor_r_set(FORWARD, 230); |
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else motor_r_set(FORWARD, 210); |
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int colors[5]; |
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updateLine(colors); |
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int position = lineLocate(colors); |
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if(position>3 || position<-3)turnDistance++; |
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if(turnDistance>20) |
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{
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turnDistance=21; |
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if(position<3 && position>-3) |
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{
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turnDistance = 0; |
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return 0; |
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} |
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} |
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return 1; |
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} |
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int mergeRight() |
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{
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motor_r_set(FORWARD, 200); |
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if(turnDistance!=21)motor_l_set(FORWARD, 230); |
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else motor_l_set(FORWARD, 210); |
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int colors[5]; |
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updateLine(colors); |
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int position = lineLocate(colors); |
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if(position>3 || position<-3)turnDistance++; |
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if(turnDistance>20) |
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{
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turnDistance=21; |
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if(position<3 && position>-3) |
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{
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turnDistance = 0; |
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return 0; |
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} |
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} |
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return 1; |
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} |
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int 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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int colors[5]; |
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updateLine(colors); |
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int position = lineLocate(colors); |
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if(position>2 || position<-2)turnDistance++; |
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if(turnDistance>1) |
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{
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if(position<3 && position>-3) |
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{
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turnDistance = 0; |
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return 0; |
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} |
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} |
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return 1; |
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} |
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int 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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int colors[5]; |
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updateLine(colors); |
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int position = lineLocate(colors); |
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if(position>2 || position<-2)turnDistance++; |
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if(turnDistance>1) |
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{
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if(position<3 && position>-3) |
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{
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turnDistance = 0; |
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return 0; |
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} |
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} |
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return 1; |
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} |
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int getBarCode() |
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{
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if(barCodePosition!=CODESIZE) return NOBARCODE ; |
| 55 | 170 |
int temp = 0; |
| 56 | 171 |
int i; |
| ... | ... | |
| 64 | 179 |
|
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void updateLine(int* values) |
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{
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int ports[5] = {13, 12, 3, 2, 9};
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for(int i = 0; i<5; i++) |
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values[i] = assignColor(i, updateIR(i));
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values[i] = analog_get10(ports[i])<150 ? LWHITE : LBLACK;
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} |
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int updateIR(int n) |
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{
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//maps the sensors to the analog input ports |
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int ports[5] = {13, 12, 3, 2, 9};
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return analog_get10(ports[n]); |
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} |
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int assignColor(int port, int analog) |
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{
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if (analog < 150) |
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return 0; |
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else |
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return 2; |
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} |
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int lineLocate(int* colors) |
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{
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int i; |
| ... | ... | |
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wsum += (i)*colors[i]; |
| 101 | 199 |
} |
| 102 | 200 |
if(count==0) |
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return NOLINE; |
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return NOLINE; |
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if(count==5) |
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return FULL_LINE; |
|
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return (wsum/count)-4; |
| 106 | 205 |
} |
| 107 | 206 |
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void updateBarCode() |
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{
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//NOTE: currently only uses one of the barcode sensors. |
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|
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//maps the sensors to the analog input ports |
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int ports[2] = {8,1};
|
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int current[2]; |
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// current[0] = analog_get10(8); |
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current[1] = analog_get10(1); |
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// usb_puti(analog_get10(8)); |
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// usb_putc('\t');
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// usb_puti(analog_get10(1)); |
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// usb_putc('\n');
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// current[0] = analog_get10(ports[0]); |
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current[1] = analog_get10(ports[1]); |
|
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if(current[1]>500) |
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{
|
| ... | ... | |
| 139 | 237 |
countHi=countLo=0; |
| 140 | 238 |
if(maxAvg>825)orb1_set_color(RED); |
| 141 | 239 |
else orb1_set_color(BLUE); |
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barCode[barCodePosition++] = (maxAvg > 825 ? 2:1)-1;
|
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barCode[barCodePosition++] = maxAvg > 825 ? 1:0;
|
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| 143 | 241 |
} |
| 144 | 242 |
} |
| 145 | 243 |
else countHi/=2; |
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