root / trunk / code / projects / linefollowing / lineFollow.h @ 1851
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1 | 1841 | djacobs | #include <dragonfly_lib.h> |
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2 | |||
3 | #ifndef _LINEFOLLOW_H_
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4 | #define _LINEFOLLOW_H_
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5 | |||
6 | #define WHITE 0 |
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7 | #define GREY 1 |
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8 | #define BLACK 2 |
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9 | #define CENTER 3 |
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10 | #define NOLINE -42 |
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11 | #define LINELOST -1 |
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12 | |||
13 | /* lineFollow_init
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14 | Must call before lineFollow
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15 | Turns analog loop off
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16 | */
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17 | void lineFollow_init();
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18 | |||
19 | /* lineFollow
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20 | Must call lineFollow first
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21 | Must be called inside a loop
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22 | */
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23 | 1851 | djacobs | int lineFollow(int speed); |
24 | 1841 | djacobs | |
25 | 1851 | djacobs | /* turnLeft and turnRight
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26 | Must be called inside a loop
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27 | returns 0 when complete
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28 | 1841 | djacobs | */
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29 | 1851 | djacobs | int turnLeft();
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30 | int turnRight();
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31 | 1841 | djacobs | |
32 | /* updateLine
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33 | 1851 | djacobs | Reads in the analog values
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34 | 1841 | djacobs | Fills the given array with WHITE
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35 | or BLACK representing the line
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36 | */
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37 | void updateLine(int* values); |
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38 | |||
39 | /* lineLocate
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40 | Finds the location of the line
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41 | Outputs positive for right side
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42 | Negative for left, or NOLINE if a line is not found
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43 | */
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44 | int lineLocate(int* colors); |
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45 | |||
46 | //Not implemented yet, returns ???
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47 | 1842 | djacobs | void updateBarCode();
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48 | 1841 | djacobs | |
49 | /* min
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50 | returns the minimum of two values
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51 | */
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52 | int min(int x, int y); |
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53 | |||
54 | /* motorLeft
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55 | Commands the left motor
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56 | Cannot be used to stop
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57 | 0-126 are backward
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58 | 127-255 are forward
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59 | */
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60 | void motorLeft(int speed); |
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61 | |||
62 | /* motorRight
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63 | Commands the right motor
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64 | Cannot be used to stop
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65 | 0-126 are backward
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66 | 127-255 are forward
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67 | */
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68 | void motorRight(int speed); |
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69 | |||
70 | /* lost
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71 | Internal counter to detect if the line was lost
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72 | */
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73 | int lost;
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74 | |||
75 | #endif |