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Revision 048ed7e1

ID048ed7e1dbde71a25f5c2a6633de8ea027828dd5

Added by Thomas Mullins about 12 years ago

Added analog.c for line following and linear pot

Most of the line following was copy-pasted from Colony 3. Still unsure
about prescaler, which used to be 2 for some reason but is now 64.

View differences:

forklift/code/forklift.c
12 12 
 */
13 13
14 14 
#include "twi.h"
15 
#include "analog.h"
15 16 

  		




  16
  17
  
    
#define TRACKING_ID 0x41


  		




  17
  18
  
    
#define SERIAL_NUMBER 0x12


  		




  ......




  21
  22
  
    
#define FORKLIFT_SERIAL_NUMBER   1


  		




  22
  23
  
    
#define FORKLIFT_HEIGHT          2


  		




  23
  24
  
    
#define FORKLIFT_HEIGHT_SETPOINT 3 // only one that's r/w


  		




  24
  
  
    
#define FORKLIFT_FORCE           4


  		




  
  25
  
    
#define FORKLIFT_LINEPOS         4


  		




  25
  26
  
    

  		




  26
  27
  
    
#define FORKLIFT_DATA_LEN        5


  		




  27
  28
  
    

  		




  ......




  58
  59
  
    
  twi_setAddress(TRACKING_ID);


  		




  59
  60
  
    
  twi_attachSlaveRxEvent(slave_rx);


  		




  60
  61
  
    
  twi_attachSlaveTxEvent(slave_tx);


  		




  
  62
  
    
  analog_init();


  		




  61
  63
  
    
  while (1)


  		




  62
  64
  
    
  {


  		




  63
  65
  
    
    // do motor stuff


  		




  
  66
  
    
    internal_data[FORKLIFT_LINEPOS] = line_read_pos();


  		




  
  67
  
    
    internal_data[FORKLIFT_HEIGHT] = analog_read(ADC_HEIGHT);


  		




  64
  68
  
    
  }


  		




  65
  69
  
    
  return 0;


  		




  66
  70
  
    
}


  		












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