Colony

#include <dragonfly_lib.h>

 #ifndef _LINEFOLLOW_H_

 #define _LINEFOLLOW_H_

#define LWHITE                        0

#define LGREY                        1

#define LBLACK                         2

#define CENTER                        3

#define NOLINE                        -42

#define LINELOST                -1

#define NOBARCODE                 -2

#define INTERSECTION                 -25

#define FULL_LINE                 -26

/*         lineFollow_init

        Must call before lineFollow

        Turns analog loop off

*/

void lineFollow_init(void);

/*        lineFollow

        Must call lineFollow first

        Must be called inside a loop

*/

int lineFollow(int speed);

/*        turnLeft turnRight mergeLeft mergeRight

        Must be called inside a loop

        returns 0 when complete

*/

int turnLeft(void);

int turnRight(void);

int mergeLeft(void);

int mergeRight(void);

/*        updateLine

        Reads in the analog values

        Fills the given array with WHITE

        or BLACK representing the line

*/

void updateLine(int* values);

/*        lineLocate

        Finds the location of the line

        Outputs positive for right side

        Negative for left, or NOLINE if a line is not found

*/

int lineLocate(int* colors);

/*        updatebarCode

        Reads in and processes

        bar code data

*/

void updateBarCode(void);

/*        getBarCode

        returns a bar code, if

        available, otherwise NOBARCODE

*/

int getBarCode(void);

/*        min max

        returns the minimum/maximum of two values

*/

int min(int x, int y);

int max(int x, int y);

/*        motorLeft

        Commands the left motor

        Cannot be used to stop

        0-126 are backward

        127-255 are forward

*/

void motorLeft(int speed);

/*        motorRight

        Commands the right motor

        Cannot be used to stop

        0-126 are backward

        127-255 are forward

*/

void motorRight(int speed);

/*        lost

        Internal counter to detect if the line was lost

*/

int lost;

int onLine(void);

#endif