Revision 1931
fixed ??? trunk
| lineFollow.h | ||
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#include <dragonfly_lib.h> |
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#ifndef _LINEFOLLOW_H_
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#define _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 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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#define INTERSECTION -25 |
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#define NOLINE -50 |
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#define FULL_LINE -51 |
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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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/** |
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* @brief Initializes line following. |
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* |
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* Must be called before line following will work. |
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* Turns the analog loop off. |
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*/ |
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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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/** lineFollow
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* Must call lineFollow_init first
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* Must be called inside a loop
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*/
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int lineFollow(int speed); |
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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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/** 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 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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/* 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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* @brief Updates the values stored in the array to white or black based on |
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* current sensor readings. |
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* |
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* @param values The array of five integers to be updated. |
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*/ |
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void updateLine(int* values); |
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/* lineLocate |
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Finds the location of the line |
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Outputs positive for right side |
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Negative for left, or NOLINE if a line is not found |
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*/ |
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/** |
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* @brief Returns an index of the middle of the line based on line readings. |
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* |
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* Two special return values are possible: |
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* NOLINE if none of the sensors holds a black value, and |
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* FULL_LINE if all of the sensors see black. |
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* |
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* Otherwise, returns a value from -4 (farthest left) to 4 (farthest right), with |
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* 0 the line being centered in the middle. |
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* |
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* @param colors The array of 5 readings from the line sensor. Must be either |
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* LWHITE or LBLACK. |
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* @return Either a special value or an index from -4 to 4. |
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* |
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*/ |
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int lineLocate(int* colors); |
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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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/** 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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/* 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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/** |
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* @brief Gets the completed value read by the barcode reader, or NOBARCODE. |
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* |
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* Returns a bar code if available (if at the end of a barcode) and resets the |
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* barcodePosition to 0. Otherwise, return NOBARCODE. * |
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* @return The value of the barcode if a complete barcode, else 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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//! A simple function to return the minimum of two integers. |
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int min(int x, int y); |
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//! A simple function to return the maximum of two integers. |
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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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Cannot be used to stop |
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0-126 are backward |
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127-255 are forward |
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*/ |
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/** @todo Alex: I hate these functions, but I'm keeping them so code will still work. But we should delete them sometime. */ |
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/** motorLeft |
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* Commands the left motor |
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* Cannot be used to stop |
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* 0-126 are backward |
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* 127-255 are forward |
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*/ |
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void motorLeft(int speed); |
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/* motorRight |
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Commands the right motor |
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Cannot be used to stop |
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0-126 are backward |
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127-255 are forward |
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*/ |
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/** motorRight
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* Commands the right motor
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* Cannot be used to stop
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* 0-126 are backward
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* 127-255 are forward
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*/
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void motorRight(int speed); |
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/* lost |
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Internal counter to detect if the line was lost |
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*/ |
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/** lost
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* Internal counter to detect if the line was lost
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*/
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int lost; |
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int onLine(void); |
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#endif |
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