Colony

#include <dragonfly_lib.h>

 #ifndef _LINEFOLLOW_H_

 #define _LINEFOLLOW_H_

#define WHITE                        0

#define GREY                        1

#define BLACK                         2

#define CENTER                        3

#define NOLINE                        -42

#define SPEED                        170

#define LINELOST                -1

/*         lineFollow_init

        Must call before lineFollow

        Turns analog loop off

*/

void lineFollow_init();

/*        lineFollow

        Must call lineFollow first

        Must be called inside a loop

*/

int lineFollow();

/*        assignColor

        Converts an analog color to WHITE or BLACK

*/

int assignColor(int port, int analog);

/*        updateIR

        Gets the value of the nth line sensor

*/

int updateIR(int n);

/*        updateLine

        Fills the given array with WHITE

        or BLACK representing the line

*/

void updateLine(int* values);

/*        lineLocate

        Finds the location of the line

        Outputs positive for right side

        Negative for left, or NOLINE if a line is not found

*/

int lineLocate(int* colors);

//Not implemented yet, returns ???

void updateBarCode();

/*        min

        returns the minimum of two values

*/

int min(int x, int y);

/*        motorLeft

        Commands the left motor

        Cannot be used to stop

        0-126 are backward

        127-255 are forward

*/

void motorLeft(int speed);

/*        motorRight

        Commands the right motor

        Cannot be used to stop

        0-126 are backward

        127-255 are forward

*/

void motorRight(int speed);

/*        lost

        Internal counter to detect if the line was lost

*/

int lost;

#endif