Revision 1910
Updating some documentation for lineFollow
| lineFollow.c | ||
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/** |
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* @file lineFollow.c |
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* @defgroup lineFollwing Line Following |
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* |
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* Takes care of following a line. Running this program is done by calling the |
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* init() function and then the lineFollow(speed) command. However, direct use |
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#include "lineFollow.h" |
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//! The number of bits expected in a barcode |
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#define CODESIZE 5 |
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int countHi = 0; |
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int barCodePosition=0; |
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int turnDistance=0; |
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//! Counts the number of full line readings before we determine an intersection |
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int intersectionFilter=0; |
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int disableBarCode=0; |
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|
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//not on line |
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if(position == NOLINE) |
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{
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if(lost++>20)
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if(lost++ > 20)
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{
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orb2_set_color(GREEN); |
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motors_off(); |
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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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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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int getBarCode() |
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{
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if(barCodePosition!=CODESIZE) return NOBARCODE ; |
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int temp = 0; |
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int i; |
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for(i=0; i<CODESIZE; i++) |
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for(int i=0; i<CODESIZE; i++) |
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temp += (barCode[i] << i); |
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barCodePosition = 0; |
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return temp; |
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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; |
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return (wsum/count)-4; // Subtract 4 to center the index around the center.
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} |
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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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//NOTE: currently only uses one of the barcode sensors. |
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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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} |
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//! A simple function to return the minimum of two integers. |
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int min(int x, int y){return x>y ? y : x;}
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//! A simple function to return the maximum of two integers. |
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int max(int x, int y){return x<y ? y : x;}
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void motorLeft(int speed){
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