Revision 1842
Some barcode code
| 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 |
{
|
|
| 15 |
barCode = lineFollow(); |
|
| 16 |
switch (barCode) |
|
| 17 |
{
|
|
| 18 |
case 0: |
|
| 19 |
straight(); |
|
| 20 |
turnRight(); |
|
| 21 |
break; |
|
| 22 |
case 2: |
|
| 23 |
straight(); |
|
| 24 |
break; |
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| 25 |
case 3: |
|
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straight(); |
|
| 27 |
turnLeft(); |
|
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break; |
|
| 29 |
} |
|
| 30 |
} |
|
| 15 | 31 |
return 0; |
| 16 | 32 |
} |
| 33 |
void turnRight() |
|
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{
|
|
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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() |
|
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{
|
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motor_r_set(FORWARD, 210); |
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motor_l_set(FORWARD, 210); |
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delay_ms(200); |
|
| 46 |
move(0,0); |
|
| 47 |
delay_ms(2000); |
|
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} |
|
| 49 |
|
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| 50 |
void turnLeft() |
|
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{
|
|
| 52 |
motor_l_set(BACKWARD, 200); |
|
| 53 |
motor_r_set(FORWARD, 200); |
|
| 54 |
delay_ms(400); |
|
| 55 |
} |
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