Revision 1858 trunk/code/projects/traffic_navigation/lineFollow.h

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lineFollow.h
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 #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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