/ - Diff - Colony - Robotics Club

Revision 1952

Small edits to the barcode reader

With proper setup of the barcodes (printed on rather than taped), this barcode reader is working.

     //! Anything lower than this value is white
     #define GREY_THRESHOLD 100
     //! Anything higher than this value is black
     #define BLACK_THRESHOLD 350
     #define BLACK_THRESHOLD 400
     #define LEFT_SENSOR     1
     #define RIGHT_SENSOR    0

     int main(void)
+    {
         /* initialize components, set wireless channel */
         dragonfly_init(ALL_ON);
         lineFollow_init();

     int countHi = 0;
     int countLo = 0;
     int maxAvg, avg;
     int barCode[ CODESIZE ];
     int barCodePosition=0;
     int duration = 0;
     int lastColor = 0;
     char isReset = 0;
     // Everything has a dimension of 2 for left and right readings
     int barCode[2][ CODESIZE ];
     int barCodePosition[2]={0};
     int duration[2] = {0};
     int lastColor[2] = {0};
     char isReset[2] = {0};
     int turnDistance=0;
     //! Counts the number of full line readings before we determine an intersection
     int intersectionFilter=0;
-...
     		if(intersectionFilter++ > 4)
+    		{
     			orb2_set_color(RED);
     			barCodePosition=0;
     			barCodePosition[0]=0;
                 barCodePosition[1]=1;
     			disableBarCode=50;
+    		}
+    	}
-...
     int getBarCode()
+    {
     	if(barCodePosition != CODESIZE)
     	if(barCodePosition[0] != CODESIZE)
             return NOBARCODE ;
         else
+        {
             int temp = 0;
             for(int i=0; i<CODESIZE; i++)
                 temp += (barCode[i] << i);
             barCodePosition = 0;
                 temp += (barCode[0][i] << i);
             barCodePosition[0] = 0;
             return temp;
+        }
+    }
-...
         // global int barCodePosition = 0;
         // global char isReset = 0;
         // Average the readings of the last 2 sensors
         if(read_line(6) - read_line(7) > 150 || read_line(6) - read_line(7) < -150)
         for(int i = RIGHT_SENSOR; i <= LEFT_SENSOR; i++)
+        {
             return;
+        }
             // Add 6 to convert left (1) and right (0) to sensor 6 and 7
             int curReading = read_line(i + 6);
             int curColor;
         int curReading = (read_line(6) + read_line(7)) / 2;
         int curColor;
             if(curReading > BLACK_THRESHOLD)
                 curColor = LBLACK;
             else if(curReading < GREY_THRESHOLD)
                 curColor = LWHITE;
             else
                 curColor = LGREY;
         if(curReading > BLACK_THRESHOLD)
             curColor = LBLACK;
         else if(curReading < GREY_THRESHOLD)
             curColor = LWHITE;
         else
             curColor = LGREY;
             // Just an error check
             if(barCodePosition[i] > CODESIZE)
+            {
                 barCodePosition[i] = 0;
+            }
         // Just an error check
         if(barCodePosition > CODESIZE)
+        {
             barCodePosition = 0;
+        }
             // We are only interested in consecutive color values
             if(curColor == lastColor[i])
+            {
                 duration[i]++;
+            }
             else
+            {
                 duration[i] = 0;
                 lastColor[i] = curColor;
+            }
         // We are only interested in consecutive color values
         if(curColor == lastColor)
+        {
             duration++;
+        }
         else
+        {
             duration = 0;
             lastColor = curColor;
+        }
             if(duration[i] > MAX_DURATION)
+            {
                 // Now we assume our reading is significant - a bit, or a white space
         if(duration > MAX_DURATION)
+        {
             // Now we assume our reading is significant - a bit, or a white space
                 // Only read a value if we have read 0 first (isReset == 1)
                 if(isReset[i] && (curColor == LBLACK || curColor == LGREY) )
+                {
                     isReset[i] = 0;
                     usb_puts("Read barcode bit: ");
                     usb_puti(barCodePosition[i]);
                     usb_puts(" = ");
                     usb_puti(curColor);
                     usb_puts(", curReading = ");
                     usb_puti(curReading);
                     usb_puts(".\n");
             // Only read a value if we have read 0 first (isReset == 1)
             if(isReset && (curColor == LBLACK || curColor == LGREY) )
+            {
                 isReset = 0;
                 usb_puts("Read barcode bit: ");
                 usb_puti(barCodePosition);
                 usb_puts(" = ");
                 usb_puti(curColor);
                 usb_puts(", curReading = ");
                 usb_puti(curReading);
                 usb_puts(".\n");
                 barCode[barCodePosition++] = (curColor == LBLACK) ? 1 : 0;
                     barCode[i][barCodePosition[i]++] = (curColor == LBLACK) ? 1 : 0;
+                }
                 else if(curColor == LWHITE)
+                {
                     isReset[i] = 1;
+                }
+            }
             else if(curColor == LWHITE)
             if(duration[i] > TIMEOUT_DURATION && barCodePosition[i] != 0)
+            {
                 isReset = 1;
                 usb_puts("TIMED OUT. BARCODE READER RESET.\n");
                 barCodePosition[i] = 0;
                 duration[i] = 0;
                 isReset[i] = 1;
+            }
+        }
         if(duration > TIMEOUT_DURATION && barCodePosition != 0)
+        {
             usb_puts("TIMED OUT. BARCODE READER RESET.\n");
             barCodePosition = 0;
             duration = 0;
+        }
+    }
     // Dan's version

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Revision 1952