root / trunk / code / projects / linefollowing / main.c @ 1923
History | View | Annotate | Download (2.14 KB)
| 1 | 16 | bcoltin | #include <dragonfly_lib.h> |
|---|---|---|---|
| 2 | 1841 | djacobs | #include <lineFollow.h> |
| 3 | 16 | bcoltin | |
| 4 | 1923 | pdeo | /*
|
| 5 | * read_line 0 = Sensor 1
|
||
| 6 | * read_line 1 = Sensor 8
|
||
| 7 | * read_line 2 = Sensor 4
|
||
| 8 | * read_line 3 = Sensor 6
|
||
| 9 | * read_line 4 = Sensor 2
|
||
| 10 | * read_line 5 = Sensor 7
|
||
| 11 | * read_line 6 = Sensor 3
|
||
| 12 | * read_line 7 = Sensor 5
|
||
| 13 | */
|
||
| 14 | 1836 | dgurjar | |
| 15 | 857 | bcoltin | int main(void) |
| 16 | {
|
||
| 17 | 1419 | jsexton | |
| 18 | 967 | alevkoy | /* initialize components, set wireless channel */
|
| 19 | 857 | bcoltin | dragonfly_init(ALL_ON); |
| 20 | 1841 | djacobs | lineFollow_init(); |
| 21 | 1842 | djacobs | int barCode;
|
| 22 | 1841 | djacobs | while(1) |
| 23 | 1842 | djacobs | {
|
| 24 | 1923 | pdeo | usb_puti(read_line(0));
|
| 25 | 1922 | azirbel | usb_putc('\t');
|
| 26 | 1923 | pdeo | usb_puti(read_line(4));
|
| 27 | usb_putc('\t');
|
||
| 28 | usb_puti(read_line(6));
|
||
| 29 | usb_putc('\t');
|
||
| 30 | usb_puti(read_line(2));
|
||
| 31 | usb_putc('\t');
|
||
| 32 | usb_puti(read_line(7));
|
||
| 33 | usb_putc('\t');
|
||
| 34 | usb_puti(read_line(3));
|
||
| 35 | usb_putc('\t');
|
||
| 36 | usb_puti(read_line(5));
|
||
| 37 | usb_putc('\t');
|
||
| 38 | usb_puti(read_line(1));
|
||
| 39 | usb_putc('\t');
|
||
| 40 | usb_putc(13);
|
||
| 41 | 1922 | azirbel | |
| 42 | /*
|
||
| 43 | |||
| 44 | 1854 | djacobs | for(int q=0; q<500; q++)
|
| 45 | 1851 | djacobs | barCode = lineFollow(200);
|
| 46 | 1854 | djacobs | while(mergeLeft());
|
| 47 | 1922 | azirbel | for(int q=0; q<1000; q++)lineFollow(200);
|
| 48 | 1854 | djacobs | |
| 49 | continue;
|
||
| 50 | 1922 | azirbel | if(barCode==-25)while(turnRight());
|
| 51 | 1851 | djacobs | continue;
|
| 52 | 1845 | dgurjar | if(barCode != -2 && barCode != LINELOST)
|
| 53 | {
|
||
| 54 | usb_puti(barCode);
|
||
| 55 | usb_putc('\n');
|
||
| 56 | }
|
||
| 57 | 1922 | azirbel | */
|
| 58 | |||
| 59 | |||
| 60 | |||
| 61 | 1845 | dgurjar | /*
|
| 62 | |||
| 63 | 1842 | djacobs | switch (barCode)
|
| 64 | 1845 | dgurjar | {
|
| 65 | |||
| 66 | |||
| 67 | case 0: orb_set_color(RED); break;
|
||
| 68 | case 1: orb_set_color(ORANGE); break;
|
||
| 69 | case 2: orb_set_color(YELLOW); break;
|
||
| 70 | case 3: orb_set_color(LIME); break;
|
||
| 71 | case 4: orb_set_color(GREEN); break;
|
||
| 72 | case 5: orb_set_color(CYAN); break;
|
||
| 73 | case 6: orb_set_color(BLUE); break;
|
||
| 74 | case 7: orb_set_color(PINK); break;
|
||
| 75 | case 8: orb_set_color(PURPLE); break;
|
||
| 76 | case 9: orb_set_color(MAGENTA); break;
|
||
| 77 | default: orb_set_color(WHITE); break;
|
||
| 78 | |||
| 79 | 1842 | djacobs | case 0:
|
| 80 | straight();
|
||
| 81 | turnRight();
|
||
| 82 | break;
|
||
| 83 | case 2:
|
||
| 84 | straight();
|
||
| 85 | break;
|
||
| 86 | case 3:
|
||
| 87 | straight();
|
||
| 88 | turnLeft();
|
||
| 89 | break;
|
||
| 90 | 1845 | dgurjar | |
| 91 | 1842 | djacobs | }
|
| 92 | 1845 | dgurjar | */
|
| 93 | 1842 | djacobs | } |
| 94 | 1836 | dgurjar | return 0; |
| 95 | } |
||
| 96 | 1851 | djacobs | void right()
|
| 97 | 1842 | djacobs | {
|
| 98 | motor_r_set(BACKWARD, 200);
|
||
| 99 | motor_l_set(FORWARD, 200);
|
||
| 100 | delay_ms(400);
|
||
| 101 | } |
||
| 102 | |||
| 103 | 1922 | azirbel | |
| 104 | 1842 | djacobs | void straight()
|
| 105 | {
|
||
| 106 | motor_r_set(FORWARD, 210);
|
||
| 107 | motor_l_set(FORWARD, 210);
|
||
| 108 | delay_ms(200);
|
||
| 109 | move(0,0); |
||
| 110 | delay_ms(2000);
|
||
| 111 | } |
||
| 112 | |||
| 113 | 1851 | djacobs | void left()
|
| 114 | 1842 | djacobs | {
|
| 115 | motor_l_set(BACKWARD, 200);
|
||
| 116 | motor_r_set(FORWARD, 200);
|
||
| 117 | delay_ms(400);
|
||
| 118 | } |