Revision 1942
Updated barcode code to use the new line sensor, and to work better.
| lineFollow.c | ||
|---|---|---|
| 22 | 22 |
int barCode[ CODESIZE ]; |
| 23 | 23 |
int barCodePosition=0; |
| 24 | 24 |
|
| 25 |
int duration = 0; |
|
| 26 |
int lastColor = 0; |
|
| 27 |
char isReset = 0; |
|
| 28 |
|
|
| 25 | 29 |
int turnDistance=0; |
| 26 | 30 |
//! Counts the number of full line readings before we determine an intersection |
| 27 | 31 |
int intersectionFilter=0; |
| ... | ... | |
| 84 | 88 |
intersectionFilter=0; |
| 85 | 89 |
} |
| 86 | 90 |
|
| 87 |
if(disableBarCode--) |
|
| 91 |
// If we're running over a line, stop reading barcodes for a sec |
|
| 92 |
if(disableBarCode-- > 0) |
|
| 88 | 93 |
{
|
| 89 |
if(disableBarCode)return NOBARCODE; |
|
| 94 |
// Return intersection once we cross the line |
|
| 95 |
if(disableBarCode) return NOBARCODE; |
|
| 90 | 96 |
return INTERSECTION; |
| 91 | 97 |
} |
| 92 | 98 |
updateBarCode(); |
| ... | ... | |
| 233 | 239 |
|
| 234 | 240 |
int getBarCode() |
| 235 | 241 |
{
|
| 236 |
if(barCodePosition!=CODESIZE) return NOBARCODE ; |
|
| 237 |
int temp = 0; |
|
| 238 |
for(int i=0; i<CODESIZE; i++) |
|
| 239 |
temp += (barCode[i] << i); |
|
| 240 |
barCodePosition = 0; |
|
| 241 |
return temp; |
|
| 242 |
if(barCodePosition != CODESIZE) |
|
| 243 |
return NOBARCODE ; |
|
| 244 |
else |
|
| 245 |
{
|
|
| 246 |
int temp = 0; |
|
| 247 |
for(int i=0; i<CODESIZE; i++) |
|
| 248 |
temp += (barCode[i] << i); |
|
| 249 |
barCodePosition = 0; |
|
| 250 |
return temp; |
|
| 251 |
} |
|
| 242 | 252 |
} |
| 243 | 253 |
|
| 244 | 254 |
|
| ... | ... | |
| 246 | 256 |
void updateLine(int* values) |
| 247 | 257 |
{
|
| 248 | 258 |
for(int i = 0; i<5; i++) |
| 249 |
values[i] = (read_line(4-i)<150 ? LWHITE : LBLACK);
|
|
| 259 |
values[i] = (read_line(4-i) < 150 ? LWHITE : LBLACK);
|
|
| 250 | 260 |
} |
| 251 | 261 |
|
| 252 | 262 |
|
| ... | ... | |
| 270 | 280 |
} |
| 271 | 281 |
|
| 272 | 282 |
|
| 283 |
// new version by Alex |
|
| 284 |
/*void updateBarCode() |
|
| 285 |
{
|
|
| 286 |
// Average the readings of the last 2 sensors |
|
| 287 |
int curReading = (read_line(6) + read_line(7)) / 2; |
|
| 288 |
int curColor = (curReading > 500) ? LBLACK : LWHITE; |
|
| 289 |
|
|
| 290 |
// USING THESE GLOBAL VARIABLES |
|
| 291 |
// global int duration = 0; |
|
| 292 |
// global int lastColor = 0; |
|
| 293 |
// global int barCodePosition = 0; |
|
| 294 |
// global char isReset = 0; |
|
| 295 |
|
|
| 296 |
// Just an error check |
|
| 297 |
if(barCodePosition > CODESIZE) |
|
| 298 |
{
|
|
| 299 |
barCodePosition = 0; |
|
| 300 |
} |
|
| 301 |
|
|
| 302 |
if(curColor == lastColor) |
|
| 303 |
{
|
|
| 304 |
duration++; |
|
| 305 |
} |
|
| 306 |
else |
|
| 307 |
{
|
|
| 308 |
duration = 0; |
|
| 309 |
lastColor = curColor; |
|
| 310 |
} |
|
| 311 |
|
|
| 312 |
if(duration > MAX_DURATION) |
|
| 313 |
{
|
|
| 314 |
// Now we assume our reading is significant - a bit, or a white space |
|
| 315 |
|
|
| 316 |
// Only read a value if we have read 0 first (isReset == 1) |
|
| 317 |
if(isReset && (curColor == LBLACK || curColor == LGREY) ) |
|
| 318 |
{
|
|
| 319 |
isReset = 0; |
|
| 320 |
|
|
| 321 |
barCode[barCodePosition++] = (curColor == LBLACK) ? 1 : 0; |
|
| 322 |
} |
|
| 323 |
else if(curColor == LWHITE) |
|
| 324 |
{
|
|
| 325 |
isReset = 1; |
|
| 326 |
} |
|
| 327 |
} |
|
| 328 |
}*/ |
|
| 329 |
|
|
| 330 |
|
|
| 273 | 331 |
void updateBarCode() |
| 274 | 332 |
{
|
| 275 | 333 |
//! Note: currently only uses one of the barcode sensors. |
| ... | ... | |
| 278 | 336 |
int ports[2] = {8,1};
|
| 279 | 337 |
int current[2]; |
| 280 | 338 |
// current[0] = analog_get10(ports[0]); |
| 281 |
current[1] = analog_get10(ports[1]); |
|
| 339 |
//current[1] = analog_get10(ports[1]); |
|
| 340 |
current[1] = read_line(6); |
|
| 282 | 341 |
|
| 283 |
if(current[1]>500)
|
|
| 342 |
if(current[1] > 150)
|
|
| 284 | 343 |
{
|
| 285 |
if(countHi++==0)
|
|
| 344 |
if(countHi++ == 0)
|
|
| 286 | 345 |
{
|
| 287 | 346 |
avg = 500; |
| 288 | 347 |
maxAvg = 500; |
| ... | ... | |
| 294 | 353 |
maxAvg = max(maxAvg, avg); |
| 295 | 354 |
} |
| 296 | 355 |
} |
| 297 |
else if(countHi>5)
|
|
| 356 |
else if(countHi > 5)
|
|
| 298 | 357 |
{
|
| 299 |
if(countLo++>15)
|
|
| 358 |
if(countLo++ > 15)
|
|
| 300 | 359 |
{
|
| 301 |
countHi=countLo=0; |
|
| 302 |
if(maxAvg>825)orb1_set_color(RED); |
|
| 360 |
countHi = countLo = 0; |
|
| 361 |
if(maxAvg > 825) |
|
| 362 |
orb1_set_color(RED); |
|
| 303 | 363 |
else orb1_set_color(BLUE); |
| 304 | 364 |
barCode[barCodePosition++] = maxAvg > 825 ? 1:0; |
| 305 | 365 |
} |
Also available in: Unified diff