root / trunk / code / projects / linefollowing / main.c @ 1952
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#include <dragonfly_lib.h> |
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#include <lineFollow.h> |
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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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int main(void) |
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{ |
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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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/*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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int barCode;
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while(1) |
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{ |
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int barcode = lineFollow(170); |
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if(barcode != NOBARCODE && barcode != LINELOST)
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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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} |
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void right()
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{ |
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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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} |
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void straight()
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{ |
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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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} |
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void left()
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{ |
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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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} |