Revision 1842
Some barcode code
| trunk/code/projects/linefollowing/lineFollow.h | ||
|---|---|---|
| 47 | 47 |
int lineLocate(int* colors); |
| 48 | 48 |
|
| 49 | 49 |
//Not implemented yet, returns ??? |
| 50 |
int updateBarCode();
|
|
| 50 |
void updateBarCode();
|
|
| 51 | 51 |
|
| 52 | 52 |
/* min |
| 53 | 53 |
returns the minimum of two values |
| trunk/code/projects/linefollowing/main.c | ||
|---|---|---|
| 9 | 9 |
/* initialize components, set wireless channel */ |
| 10 | 10 |
dragonfly_init(ALL_ON); |
| 11 | 11 |
lineFollow_init(); |
| 12 |
int barCode; |
|
| 12 | 13 |
while(1) |
| 13 |
lineFollow(); |
|
| 14 |
|
|
| 14 |
{
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|
| 15 |
barCode = lineFollow(); |
|
| 16 |
switch (barCode) |
|
| 17 |
{
|
|
| 18 |
case 0: |
|
| 19 |
straight(); |
|
| 20 |
turnRight(); |
|
| 21 |
break; |
|
| 22 |
case 2: |
|
| 23 |
straight(); |
|
| 24 |
break; |
|
| 25 |
case 3: |
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| 26 |
straight(); |
|
| 27 |
turnLeft(); |
|
| 28 |
break; |
|
| 29 |
} |
|
| 30 |
} |
|
| 15 | 31 |
return 0; |
| 16 | 32 |
} |
| 33 |
void turnRight() |
|
| 34 |
{
|
|
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motor_r_set(BACKWARD, 200); |
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motor_l_set(FORWARD, 200); |
|
| 37 |
delay_ms(400); |
|
| 38 |
} |
|
| 39 |
|
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| 40 |
|
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| 41 |
void straight() |
|
| 42 |
{
|
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motor_r_set(FORWARD, 210); |
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motor_l_set(FORWARD, 210); |
|
| 45 |
delay_ms(200); |
|
| 46 |
move(0,0); |
|
| 47 |
delay_ms(2000); |
|
| 48 |
} |
|
| 49 |
|
|
| 50 |
void turnLeft() |
|
| 51 |
{
|
|
| 52 |
motor_l_set(BACKWARD, 200); |
|
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motor_r_set(FORWARD, 200); |
|
| 54 |
delay_ms(400); |
|
| 55 |
} |
|
| trunk/code/projects/linefollowing/lineFollow.c | ||
|---|---|---|
| 1 | 1 |
#include "lineFollow.h" |
| 2 | 2 |
|
| 3 |
#define NOBARCODE -2 |
|
| 4 |
#define CODESIZE 2 |
|
| 3 | 5 |
|
| 6 |
int countHi = 0; |
|
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int countLo = 0; |
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| 8 |
int maxAvg, avg; |
|
| 9 |
int barCode[ CODESIZE ]; |
|
| 10 |
int barCodePosition=0; |
|
| 4 | 11 |
|
| 5 | 12 |
void lineFollow_init() |
| 6 | 13 |
{
|
| ... | ... | |
| 24 | 31 |
{
|
| 25 | 32 |
if(lost++>20) |
| 26 | 33 |
{
|
| 27 |
orb1_set_color(GREEN); |
|
| 28 | 34 |
orb2_set_color(GREEN); |
| 29 | 35 |
motors_off(); |
| 30 | 36 |
return LINELOST; |
| ... | ... | |
| 34 | 40 |
else |
| 35 | 41 |
{
|
| 36 | 42 |
position*=30; |
| 37 |
orb1_set_color(GREEN); |
|
| 38 | 43 |
orb2_set_color(ORB_OFF); |
| 39 | 44 |
motorLeft(min(SPEED+position, 255)); |
| 40 | 45 |
motorRight(min(SPEED-position, 255)); |
| 41 | 46 |
lost=0; |
| 42 | 47 |
} |
| 43 |
return 0; |
|
| 48 |
updateBarCode(); |
|
| 49 |
return getBarCode(); |
|
| 44 | 50 |
} |
| 45 | 51 |
|
| 52 |
int getBarCode(){
|
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if(barCodePosition!=CODESIZE) return NOBARCODE ; |
|
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int temp = 0; |
|
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int i; |
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for(i=0; i<CODESIZE; i++) |
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temp += (barCode[i] << i); |
|
| 58 |
barCodePosition = 0; |
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| 59 |
return temp; |
|
| 60 |
} |
|
| 46 | 61 |
|
| 47 | 62 |
|
| 48 | 63 |
|
| ... | ... | |
| 90 | 105 |
} |
| 91 | 106 |
|
| 92 | 107 |
|
| 93 |
int updateBarCode()
|
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| 108 |
void updateBarCode()
|
|
| 94 | 109 |
{
|
| 95 | 110 |
//maps the sensors to the analog input ports |
| 96 | 111 |
int ports[2] = {8,1};
|
| 97 |
|
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| 98 |
return analog_get10(ports[1]) | analog10(ports[2]); |
|
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int current[2]; |
|
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// current[0] = analog_get10(8); |
|
| 114 |
current[1] = analog_get10(1); |
|
| 115 |
// usb_puti(analog_get10(8)); |
|
| 116 |
// usb_putc('\t');
|
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| 117 |
usb_puti(analog_get10(1)); |
|
| 118 |
usb_putc('\n');
|
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| 119 |
|
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| 120 |
if(current[1]>500) |
|
| 121 |
{
|
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| 122 |
if(countHi++==0) |
|
| 123 |
{
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| 124 |
avg = 500; |
|
| 125 |
maxAvg = 500; |
|
| 126 |
} |
|
| 127 |
else |
|
| 128 |
{
|
|
| 129 |
avg = 3*avg + current[1]; |
|
| 130 |
avg/=4; |
|
| 131 |
maxAvg = max(maxAvg, avg); |
|
| 132 |
} |
|
| 133 |
} |
|
| 134 |
else if(countHi>10) |
|
| 135 |
{
|
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| 136 |
if(countLo++>15) |
|
| 137 |
{
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| 138 |
countHi=countLo=0; |
|
| 139 |
// if(maxAvg>825)orb1_set_color(RED); |
|
| 140 |
// else orb1_set_color(BLUE); |
|
| 141 |
barCode[barCodePosition++] = (maxAvg > 825 ? 2:1)-1; |
|
| 142 |
} |
|
| 143 |
} |
|
| 144 |
else countHi/=2; |
|
| 145 |
if(countHi==0)countLo=0; |
|
| 99 | 146 |
} |
| 100 | 147 |
|
| 101 | 148 |
|
| 102 | 149 |
int min(int x, int y){return x>y ? y : x;}
|
| 150 |
int max(int x, int y){return x<y ? y : x;}
|
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| 103 | 151 |
|
| 104 | 152 |
void motorLeft(int speed){
|
| 105 | 153 |
speed-=127; |
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