Revision 1858
Updated line following code from line following project
| lineFollow.h | ||
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| 3 | 3 |
#ifndef _LINEFOLLOW_H_ |
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#define _LINEFOLLOW_H_ |
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#define LWHITE 0 |
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#define LGREY 1 |
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#define LBLACK 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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#define NOBARCODE -2 |
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#define INTERSECTION -25 |
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#define FULL_LINE -26 |
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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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void lineFollow_init(void);
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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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int lineFollow(int speed);
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/* assignColor |
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Converts an analog color to WHITE or BLACK |
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/* turnLeft turnRight mergeLeft mergeRight |
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Must be called inside a loop |
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returns 0 when complete |
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*/ |
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int assignColor(int port, int analog); |
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int turnLeft(void); |
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int turnRight(void); |
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int mergeLeft(void); |
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int mergeRight(void); |
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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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Reads in the analog values |
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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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*/ |
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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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/* updatebarCode |
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Reads in and processes |
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bar code data |
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*/ |
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void updateBarCode(void); |
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/* min |
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returns the minimum of two values |
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/* getBarCode |
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returns a bar code, if |
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available, otherwise NOBARCODE |
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*/ |
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int getBarCode(void); |
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/* min max |
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returns the minimum/maximum of two values |
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*/ |
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int min(int x, int y); |
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int max(int x, int y); |
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/* motorLeft |
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Commands the left motor |
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