root / trunk / code / projects / linefollowing / main.c @ 1845
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1 | 16 | bcoltin | #include <dragonfly_lib.h> |
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2 | 1841 | djacobs | #include <lineFollow.h> |
3 | 16 | bcoltin | |
4 | 1836 | dgurjar | |
5 | 1838 | dgurjar | |
6 | 857 | bcoltin | int main(void) |
7 | { |
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8 | 1419 | jsexton | |
9 | 967 | alevkoy | /* initialize components, set wireless channel */
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10 | 857 | bcoltin | dragonfly_init(ALL_ON); |
11 | 1841 | djacobs | lineFollow_init(); |
12 | 1842 | djacobs | int barCode;
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13 | 1841 | djacobs | while(1) |
14 | 1842 | djacobs | { |
15 | barCode = lineFollow(); |
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16 | 1845 | dgurjar | if(barCode != -2 && barCode != LINELOST) |
17 | { |
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18 | usb_puti(barCode); |
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19 | usb_putc('\n');
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20 | } |
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21 | /*
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22 | |||
23 | 1842 | djacobs | switch (barCode)
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24 | 1845 | dgurjar | {
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25 | |||
26 | |||
27 | case 0: orb_set_color(RED); break;
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28 | case 1: orb_set_color(ORANGE); break;
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29 | case 2: orb_set_color(YELLOW); break;
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30 | case 3: orb_set_color(LIME); break;
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31 | case 4: orb_set_color(GREEN); break;
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32 | case 5: orb_set_color(CYAN); break;
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33 | case 6: orb_set_color(BLUE); break;
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34 | case 7: orb_set_color(PINK); break;
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35 | case 8: orb_set_color(PURPLE); break;
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36 | case 9: orb_set_color(MAGENTA); break;
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37 | default: orb_set_color(WHITE); break;
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38 | |||
39 | 1842 | djacobs | case 0:
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40 | straight();
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41 | turnRight();
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42 | break;
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43 | case 2:
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44 | straight();
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45 | break;
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46 | case 3:
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47 | straight();
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48 | turnLeft();
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49 | break;
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50 | 1845 | dgurjar | |
51 | 1842 | djacobs | }
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52 | 1845 | dgurjar | */
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53 | 1842 | djacobs | } |
54 | 1836 | dgurjar | return 0; |
55 | } |
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56 | 1842 | djacobs | void turnRight()
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57 | { |
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58 | motor_r_set(BACKWARD, 200);
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59 | motor_l_set(FORWARD, 200);
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60 | delay_ms(400);
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61 | } |
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62 | |||
63 | |||
64 | void straight()
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65 | { |
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66 | motor_r_set(FORWARD, 210);
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67 | motor_l_set(FORWARD, 210);
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68 | delay_ms(200);
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69 | move(0,0); |
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70 | delay_ms(2000);
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71 | } |
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72 | |||
73 | void turnLeft()
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74 | { |
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75 | motor_l_set(BACKWARD, 200);
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76 | motor_r_set(FORWARD, 200);
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77 | delay_ms(400);
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78 | } |