Revision 1845
Updated linefollowing/barcode code.
Makefile is configured to OSX to annoy Dan.
| lineFollow.c | ||
|---|---|---|
| 1 | 1 |
#include "lineFollow.h" |
| 2 | 2 |
|
| 3 | 3 |
#define NOBARCODE -2 |
| 4 |
#define CODESIZE 2
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| 4 |
#define CODESIZE 5
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| 5 | 5 |
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| 6 | 6 |
int countHi = 0; |
| 7 | 7 |
int countLo = 0; |
| ... | ... | |
| 41 | 41 |
{
|
| 42 | 42 |
position*=30; |
| 43 | 43 |
orb2_set_color(ORB_OFF); |
| 44 |
motorLeft(min(SPEED+position, 255));
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|
| 45 |
motorRight(min(SPEED-position, 255));
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motorLeft(min(SPEED+position, 150));
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motorRight(min(SPEED-position, 150));
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| 46 | 46 |
lost=0; |
| 47 | 47 |
} |
| 48 | 48 |
updateBarCode(); |
| ... | ... | |
| 95 | 95 |
|
| 96 | 96 |
for(i = 0; i<5; i++) |
| 97 | 97 |
{
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| 98 |
count+=(colors[i]+1)/2;
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count += colors[i]/2;
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|
| 99 | 99 |
wsum += (i)*colors[i]; |
| 100 | 100 |
} |
| 101 | 101 |
if(count==0) |
| ... | ... | |
| 114 | 114 |
current[1] = analog_get10(1); |
| 115 | 115 |
// usb_puti(analog_get10(8)); |
| 116 | 116 |
// usb_putc('\t');
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usb_puti(analog_get10(1)); |
|
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usb_putc('\n');
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// usb_puti(analog_get10(1));
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// usb_putc('\n');
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| 119 | 119 |
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| 120 | 120 |
if(current[1]>500) |
| 121 | 121 |
{
|
| ... | ... | |
| 131 | 131 |
maxAvg = max(maxAvg, avg); |
| 132 | 132 |
} |
| 133 | 133 |
} |
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else if(countHi>10)
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else if(countHi>5)
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|
| 135 | 135 |
{
|
| 136 | 136 |
if(countLo++>15) |
| 137 | 137 |
{
|
| 138 | 138 |
countHi=countLo=0; |
| 139 |
// if(maxAvg>825)orb1_set_color(RED);
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// else orb1_set_color(BLUE);
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if(maxAvg>825)orb1_set_color(RED); |
|
| 140 |
else orb1_set_color(BLUE); |
|
| 141 | 141 |
barCode[barCodePosition++] = (maxAvg > 825 ? 2:1)-1; |
| 142 | 142 |
} |
| 143 | 143 |
} |
| ... | ... | |
| 150 | 150 |
int max(int x, int y){return x<y ? y : x;}
|
| 151 | 151 |
|
| 152 | 152 |
void motorLeft(int speed){
|
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speed-=127; |
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if(speed>=0)motor_l_set(FORWARD, 160+speed*95/128); |
|
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else motor_l_set(BACKWARD, 160-speed*95/127); |
|
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((speed-=127)>=0)?motor_l_set(FORWARD, 160+speed*95/128):motor_l_set(BACKWARD, 160-speed*95/127); |
|
| 156 | 154 |
} |
| 157 | 155 |
|
| 158 | 156 |
void motorRight(int speed){
|
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speed-=127; |
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if(speed>=0)motor_r_set(FORWARD, 160+speed*95/128); |
|
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else motor_r_set(BACKWARD, 160-speed*95/127); |
|
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((speed-=127)>=0)?motor_r_set(FORWARD, 160+speed*95/128):motor_r_set(BACKWARD, 160-speed*95/127); |
|
| 162 | 158 |
} |
| 163 | 159 |
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