Revision 1942
Updated barcode code to use the new line sensor, and to work better.
| main.c | ||
|---|---|---|
| 2 | 2 |
#include <lineFollow.h> |
| 3 | 3 |
|
| 4 | 4 |
/* |
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* read_line 0 = Sensor 1 |
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* read_line 1 = Sensor 8 |
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* read_line 2 = Sensor 4 |
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* read_line 3 = Sensor 6 |
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* read_line 4 = Sensor 2 |
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* read_line 5 = Sensor 7 |
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* read_line 6 = Sensor 3 |
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* read_line 7 = Sensor 5 |
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*/ |
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* read_line 0 = Sensor 1
|
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* read_line 1 = Sensor 8
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* read_line 2 = Sensor 4
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* read_line 3 = Sensor 6
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* read_line 4 = Sensor 2
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* read_line 5 = Sensor 7
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* read_line 6 = Sensor 3
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* read_line 7 = Sensor 5
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*/
|
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| 14 | 14 |
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int main(void) |
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{
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| 17 | 17 |
|
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/* initialize components, set wireless channel */ |
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dragonfly_init(ALL_ON); |
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lineFollow_init(); |
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int barCode; |
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while(1) |
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{
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|
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lineFollow(200); |
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| 26 | 18 |
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/* initialize components, set wireless channel */ |
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dragonfly_init(ALL_ON); |
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lineFollow_init(); |
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| 27 | 22 |
|
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/*while(1) |
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{
|
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usb_puti(read_line(0)); |
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usb_putc('\t');
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usb_puti(read_line(1)); |
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usb_putc('\t');
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usb_puti(read_line(2)); |
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usb_putc('\t');
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usb_puti(read_line(3)); |
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usb_putc('\t');
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usb_puti(read_line(4)); |
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usb_putc('\t');
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usb_puti(read_line(5)); |
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usb_putc('\t');
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usb_puti(read_line(6)); |
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usb_putc('\t');
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usb_puti(read_line(7)); |
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usb_putc('\t');
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usb_putc(13); |
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}*/ |
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| 28 | 43 |
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} |
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return 0; |
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int barCode; |
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while(1) |
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{
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|
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int barcode = lineFollow(200); |
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|
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if(barcode != NOBARCODE) |
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{
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usb_puti(barcode); |
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usb_puts("\n");
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} |
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} |
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return 0; |
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| 32 | 58 |
} |
| 33 | 59 |
void right() |
| 34 | 60 |
{
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motor_r_set(BACKWARD, 200); |
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motor_l_set(FORWARD, 200); |
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delay_ms(400); |
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motor_r_set(BACKWARD, 200);
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motor_l_set(FORWARD, 200);
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delay_ms(400);
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} |
| 39 | 65 |
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| 40 | 66 |
void straight() |
| 41 | 67 |
{
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motor_r_set(FORWARD, 210); |
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motor_l_set(FORWARD, 210); |
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delay_ms(200); |
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move(0,0); |
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delay_ms(2000); |
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motor_r_set(FORWARD, 210);
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motor_l_set(FORWARD, 210);
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delay_ms(200);
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move(0,0);
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delay_ms(2000);
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| 47 | 73 |
} |
| 48 | 74 |
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| 49 | 75 |
void left() |
| 50 | 76 |
{
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motor_l_set(BACKWARD, 200); |
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motor_r_set(FORWARD, 200); |
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delay_ms(400); |
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motor_l_set(BACKWARD, 200);
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motor_r_set(FORWARD, 200);
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| 79 |
delay_ms(400);
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| 54 | 80 |
} |
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