Revision 1974
Back to most recent version of barcode reading.
| lineFollow.c | ||
|---|---|---|
| 28 | 28 |
|
| 29 | 29 |
int duration[2] = {0};
|
| 30 | 30 |
int lastColor[2] = {0};
|
| 31 |
char isReset[2] = {1};
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|
| 32 |
int lastReadings[2][ NUM_READINGS ] = {{0}};
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|
| 31 |
char isReset[2] = {0};
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|
| 32 |
int lastReadings[2][ NUM_READINGS ] = {{3}};
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|
| 33 | 33 |
int lastReadingsPtr[2] = {0};
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| 34 |
int numLast[2][3] = { {NUM_READINGS, 0, 0}, {NUM_READINGS, 0, 0} };
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|
| 34 |
int numLast[2][4] = { {0, 0, 0, NUM_READINGS}, {0, 0, 0, NUM_READINGS} };
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|
| 35 | 35 |
int bitColor[2] = {0};
|
| 36 | 36 |
|
| 37 | 37 |
int turnDistance=0; |
| ... | ... | |
| 72 | 72 |
{
|
| 73 | 73 |
if(lost++ > 20) |
| 74 | 74 |
{
|
| 75 |
#ifdef ORB_LINEFOLLOW |
|
| 76 | 75 |
orb2_set_color(GREEN); |
| 77 |
#endif |
|
| 78 | 76 |
motors_off(); |
| 79 | 77 |
return LINELOST; |
| 80 | 78 |
} |
| ... | ... | |
| 83 | 81 |
{
|
| 84 | 82 |
if(intersectionFilter++ > 4) |
| 85 | 83 |
{
|
| 86 |
#ifdef ORB_LINEFOLLOW |
|
| 87 | 84 |
orb2_set_color(RED); |
| 88 |
#endif |
|
| 89 | 85 |
barCodePosition[0]=0; |
| 90 | 86 |
barCodePosition[1]=0; |
| 91 | 87 |
disableBarCode=50; |
| ... | ... | |
| 95 | 91 |
else |
| 96 | 92 |
{
|
| 97 | 93 |
position*=30; |
| 98 |
#ifdef ORB_LINEFOLLOW |
|
| 99 | 94 |
orb2_set_color(ORB_OFF); |
| 100 |
#endif |
|
| 101 | 95 |
motorLeft(min(speed+position, 255)); |
| 102 | 96 |
motorRight(min(speed-position, 255)); |
| 103 | 97 |
lost=0; |
| ... | ... | |
| 213 | 207 |
// Using this for debugging, take it out soon! |
| 214 | 208 |
motor_l_set(FORWARD,0); |
| 215 | 209 |
motor_r_set(FORWARD,0); |
| 216 |
#ifdef ORB_LINEFOLLOW |
|
| 217 | 210 |
//orb_set_color(WHITE); |
| 218 |
#endif |
|
| 219 | 211 |
delay_ms(2000); |
| 220 | 212 |
} |
| 221 | 213 |
|
| ... | ... | |
| 318 | 310 |
usb_puts("\n");*/
|
| 319 | 311 |
} |
| 320 | 312 |
|
| 321 |
|
|
| 322 | 313 |
void updateBarCode() |
| 323 | 314 |
{
|
| 324 | 315 |
// USING THESE GLOBAL VARIABLES |
| ... | ... | |
| 336 | 327 |
|
| 337 | 328 |
if(curReading > BLACK_THRESHOLD) |
| 338 | 329 |
{
|
| 339 |
//usb_puts("LBLACK ");
|
|
| 340 | 330 |
curColor = LBLACK; |
| 341 | 331 |
} |
| 342 | 332 |
else if(curReading < GREY_THRESHOLD) |
| 343 | 333 |
{
|
| 344 |
//usb_puts("LWHITE");
|
|
| 345 | 334 |
curColor = LWHITE; |
| 346 | 335 |
} |
| 347 | 336 |
else |
| 348 | 337 |
{
|
| 349 |
//usb_puts("LGREY");
|
|
| 350 | 338 |
curColor = LGREY; |
| 351 | 339 |
} |
| 352 | 340 |
|
| 341 |
// usb_puts("Read: ");
|
|
| 342 |
//usb_puti(curReading); |
|
| 343 |
//usb_puts("\t");
|
|
| 344 |
|
|
| 353 | 345 |
addToBuckets(curColor, i); |
| 354 | 346 |
|
| 355 | 347 |
// Just an error check |
| ... | ... | |
| 359 | 351 |
} |
| 360 | 352 |
|
| 361 | 353 |
// We now edit curColor to use the majority of the last buckets. |
| 362 |
for(int j = 0; j <= 2; j++)
|
|
| 354 |
if(numLast[i][1] > NUM_READINGS / 2)
|
|
| 363 | 355 |
{
|
| 364 |
if(numLast[i][1] > NUM_READINGS / 2) |
|
| 365 |
{
|
|
| 366 |
curColor = LGREY; |
|
| 367 |
} |
|
| 368 |
else if(numLast[i][2] > NUM_READINGS / 2) |
|
| 369 |
{
|
|
| 370 |
curColor = LBLACK; |
|
| 371 |
} |
|
| 372 |
else if(numLast[i][0] > NUM_READINGS / 2) |
|
| 373 |
{
|
|
| 374 |
curColor = LWHITE; |
|
| 375 |
duration[i]++; |
|
| 376 |
} |
|
| 377 |
else |
|
| 378 |
{
|
|
| 379 |
curColor = NOBARCODE; |
|
| 380 |
} |
|
| 356 |
curColor = LGREY; |
|
| 381 | 357 |
} |
| 358 |
else if(numLast[i][2] > NUM_READINGS / 2) |
|
| 359 |
{
|
|
| 360 |
curColor = LBLACK; |
|
| 361 |
} |
|
| 362 |
else if(numLast[i][0] > NUM_READINGS / 2) |
|
| 363 |
{
|
|
| 364 |
curColor = LWHITE; |
|
| 365 |
duration[i]++; |
|
| 366 |
} |
|
| 367 |
else |
|
| 368 |
{
|
|
| 369 |
curColor = NOBARCODE; |
|
| 370 |
} |
|
| 382 | 371 |
|
| 372 |
// @work |
|
| 373 |
switch(curColor) |
|
| 374 |
{
|
|
| 375 |
//case LBLACK: usb_puts("LBLACK. "); break;
|
|
| 376 |
//case LGREY: usb_puts("LGREY. "); break;
|
|
| 377 |
//case LWHITE: usb_puts("LWHITE. "); break;
|
|
| 378 |
} |
|
| 379 |
//usb_puti(curReading); |
|
| 380 |
//usb_puts("\n");
|
|
| 381 |
|
|
| 382 |
return; |
|
| 383 |
|
|
| 383 | 384 |
if(curColor != NOBARCODE) |
| 384 | 385 |
{
|
| 385 | 386 |
// Now we assume our reading is significant - a bit, or a white space |
| ... | ... | |
| 413 | 414 |
|
| 414 | 415 |
/*if(curColor == LBLACK) |
| 415 | 416 |
{
|
| 416 |
#ifdef ORB_LINEFOLLOW |
|
| 417 | 417 |
orb_set_color(RED); |
| 418 |
#endif |
|
| 419 | 418 |
} |
| 420 | 419 |
else |
| 421 | 420 |
{
|
| 422 |
#ifdef ORB_LINEFOLLOW |
|
| 423 | 421 |
orb_set_color(BLUE); |
| 424 |
#endif |
|
| 425 | 422 |
}*/ |
| 426 | 423 |
|
| 427 | 424 |
duration[i] = 0; |
| ... | ... | |
| 433 | 430 |
barCode[i][barCodePosition[i]++] = |
| 434 | 431 |
(bitColor[i] == LBLACK) ? 1 : 0; |
| 435 | 432 |
usb_puts("Reset. Read bit: ");
|
| 436 |
usb_puti(bitColor[i]);
|
|
| 433 |
usb_puts(((bitColor[i] == LBLACK) ? "BLACK" : "GREY"));
|
|
| 437 | 434 |
usb_puts("\n");
|
| 438 | 435 |
|
| 439 | 436 |
bitColor[i] = LWHITE; |
| 440 | 437 |
} |
| 441 | 438 |
isReset[i] = 1; |
| 442 |
#ifdef ORB_LINEFOLLOW |
|
| 443 | 439 |
orb_set(0, 0, 0); |
| 444 |
#endif |
|
| 445 | 440 |
} |
| 446 | 441 |
} |
| 447 | 442 |
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