Revision 1983
Modified barcodes again - after reading the first barcode, should work like normal.
| trunk/code/projects/linefollowing/lineFollow.c | ||
|---|---|---|
| 17 | 17 |
#define CODESIZE 5 |
| 18 | 18 |
#define LINE_COLOR 200 |
| 19 | 19 |
|
| 20 |
/** |
|
| 21 |
* Helps with debugging. |
|
| 22 |
* 0 - no debug output. |
|
| 23 |
* 1 - print out buckets |
|
| 24 |
* 2 - print out line sensor readings |
|
| 25 |
*/ |
|
| 26 |
#define DBG_LINEFOLLOW 0 |
|
| 20 | 27 |
|
| 21 | 28 |
int countHi = 0; |
| 22 | 29 |
int countLo = 0; |
| ... | ... | |
| 309 | 316 |
lastReadingsPtr[i] = (lastReadingsPtr[i]+1) % NUM_READINGS; |
| 310 | 317 |
numLast[i][curColor]++; |
| 311 | 318 |
|
| 312 |
/*usb_puts("LP[");
|
|
| 313 |
usb_puti(i); |
|
| 314 |
usb_puts("]: ");
|
|
| 315 |
usb_puti(lastReadingsPtr[i]); |
|
| 316 |
usb_puts(", oldest: ");
|
|
| 317 |
usb_puti(oldest); |
|
| 318 |
usb_puts(", Totals: ");
|
|
| 319 |
|
|
| 320 |
for(int j=0; j<=3; j++) |
|
| 319 |
if(DBG_LINEFOLLOW == 1) |
|
| 321 | 320 |
{
|
| 322 |
usb_puts("[");
|
|
| 323 |
usb_puti(j);
|
|
| 321 |
usb_puts("LP[");
|
|
| 322 |
usb_puti(i);
|
|
| 324 | 323 |
usb_puts("]: ");
|
| 325 |
usb_puti(numLast[i][j]); |
|
| 326 |
usb_puts(" ");
|
|
| 324 |
usb_puti(lastReadingsPtr[i]); |
|
| 325 |
usb_puts(", oldest: ");
|
|
| 326 |
usb_puti(oldest); |
|
| 327 |
usb_puts(", Totals: ");
|
|
| 328 |
|
|
| 329 |
for(int j=0; j<=3; j++) |
|
| 330 |
{
|
|
| 331 |
usb_puts("[");
|
|
| 332 |
usb_puti(j); |
|
| 333 |
usb_puts("]: ");
|
|
| 334 |
usb_puti(numLast[i][j]); |
|
| 335 |
usb_puts(" ");
|
|
| 336 |
} |
|
| 337 |
usb_puts("\t ");
|
|
| 338 |
usb_puts("\n");
|
|
| 327 | 339 |
} |
| 328 |
usb_puts("\t ");*/
|
|
| 329 |
//usb_puts("\n");
|
|
| 330 | 340 |
} |
| 331 | 341 |
|
| 332 | 342 |
void updateBarCode() |
| ... | ... | |
| 357 | 367 |
curColor = LGREY; |
| 358 | 368 |
} |
| 359 | 369 |
|
| 360 |
/*usb_puts("Read: ");
|
|
| 361 |
usb_puti(curReading); |
|
| 362 |
usb_puts("\t ");*/
|
|
| 363 |
|
|
| 370 |
// Keep track of this reading |
|
| 364 | 371 |
addToBuckets(curColor, i); |
| 365 | 372 |
|
| 366 | 373 |
// Just an error check |
| ... | ... | |
| 388 | 395 |
curColor = BAD_READING; |
| 389 | 396 |
} |
| 390 | 397 |
|
| 391 |
/*switch(curColor) |
|
| 398 |
// Print out the current reading and label, if in debug mode |
|
| 399 |
if(DBG_LINEFOLLOW == 2) |
|
| 392 | 400 |
{
|
| 393 |
case LBLACK: usb_puts("LBLACK. "); break;
|
|
| 394 |
case LGREY: usb_puts("LGREY. "); break;
|
|
| 395 |
case LWHITE: usb_puts("LWHITE. "); break;
|
|
| 401 |
switch(curColor) |
|
| 402 |
{
|
|
| 403 |
case LBLACK: usb_puts("LBLACK.\t"); break;
|
|
| 404 |
case LGREY: usb_puts("LGREY.\t\t"); break;
|
|
| 405 |
case LWHITE: usb_puts("LWHITE.\t\t\t"); break;
|
|
| 406 |
} |
|
| 407 |
usb_puti(curReading); |
|
| 408 |
usb_puts("\n");
|
|
| 396 | 409 |
} |
| 397 |
usb_puti(curReading); |
|
| 398 |
usb_puts("\n");*/
|
|
| 399 | 410 |
|
| 400 | 411 |
if(curColor != BAD_READING) |
| 401 | 412 |
{
|
| ... | ... | |
| 412 | 423 |
} |
| 413 | 424 |
else if(curColor == LWHITE) |
| 414 | 425 |
{
|
| 415 |
if(!isReset[i] && (bitColor[i] != LWHITE))
|
|
| 426 |
if(!isReset[i]) |
|
| 416 | 427 |
{
|
| 417 | 428 |
barCode[i][barCodePosition[i]++] = |
| 418 | 429 |
(bitColor[i] == LBLACK) ? 1 : 0; |
| trunk/code/projects/linefollowing/Makefile | ||
|---|---|---|
| 11 | 11 |
USE_WIRELESS = 1 |
| 12 | 12 |
|
| 13 | 13 |
# com1 = serial port. Use lpt1 to connect to parallel port. |
| 14 |
AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB1'; fi)
|
|
| 14 |
AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)
|
|
| 15 | 15 |
|
| 16 | 16 |
else |
| 17 | 17 |
COLONYROOT := ../$(COLONYROOT) |
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