Revision 1836
update the ir unit test
| trunk/code/projects/linefollowing/main.c | ||
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#include <dragonfly_lib.h> |
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#define WHITE 0 |
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#define GREY 1 |
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#define BLACK 2 |
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#define COLOR_BUFFER 10 |
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#define CENTER 3 |
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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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int val;
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straightLineFollow();
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while (1) {
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return 0; |
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} |
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usb_puts("Val: ");
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usb_puti(range_read_distance(IR2)); |
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usb_putc('\n');
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//Converts an analog color to the ternary black, grey, white system. |
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//If the value is between two codes, the port is read again and the function is called again |
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int asssignColor(int analog) |
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{
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int color; |
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if(analog < 341-COLOR_BUFFER) |
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color = WHITE; |
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else if (analog < 341+COLOR_BUFFER) |
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color = assignColor(updateIR(port)); |
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else if (analog < 682-COLOR_BUFFER) |
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color = GREY; |
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else if (analog < 682+COLOR_BUFFER) |
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color = assignColor(updateIR(port)); |
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else |
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color = BLACK; |
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return color; |
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delay_ms(200);
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}
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} |
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//Gets the value of the nth IR sensor |
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int updateIR(int n) |
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{
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//maps the sensors to the analog input ports |
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int ports[5] = {13, 12, 3, 2, 9};
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return 0;
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return analog10(ports[n]);
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} |
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//Gets the value of the nth IR sensor |
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int updateBarCode() |
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{
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//maps the sensors to the analog input ports |
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int ports[2] = {8,1};
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return analog10(ports[1]) | analog10(ports[2]; |
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} |
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// updates all of the values, and assigns them new colors |
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int* updateLine(int* values) |
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{
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int i; |
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for(i = 0; i<5; i++) |
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values[i] = assignColor(i, updateIR(i)); |
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return values; |
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} |
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// updates all of the values, and assigns them new colors |
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int* updateLine(int* values) |
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{
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int i; |
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values[i] = assignColor(i, updateIR(i)); |
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return values; |
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} |
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// given an array of ints this function will take the arrays weighted average. High numbers indicate that a left turn is needed. Low numberes indicate that a right turn is needed. |
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int lineLocate(int[] colors) |
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{
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int i; |
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int wsum = 0; |
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for(i = 0; i<5; i++) |
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wsum += (i+1)*colors[i]; |
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return (wsum/15) -1; |
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} |
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//The robot will follow a line until it is interrupted by a barcode. |
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int straightLineFollow() |
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{
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int colors[5]; |
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int location = 0; |
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while(1) |
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{
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colors = updateLine(colors); |
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location = lineLocate(colors); |
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//turn left |
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if(location > 3) |
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{
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orb1_set_color(GREEN); |
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orb2_set_color(ORB_OFF); |
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} |
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//turn right |
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else if(location < 3) |
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{
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orb1_set_color(ORB_OFF); |
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orb2_set_color(GREEN); |
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} |
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} |
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} |
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