root / trunk / code / projects / linefollowing / main.c @ 1851
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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 | {
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| 15 | 1851 | djacobs | //for(int q=0; q<500; q++)
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| 16 | barCode = lineFollow(200);
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| 17 | if(barCode==-25)while(turnLeft()); |
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| 18 | continue;
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| 19 | 1845 | dgurjar | if(barCode != -2 && barCode != LINELOST) |
| 20 | {
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| 21 | usb_puti(barCode); |
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| 22 | usb_putc('\n');
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| 23 | } |
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| 24 | /*
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| 25 | |||
| 26 | 1842 | djacobs | switch (barCode)
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| 27 | 1845 | dgurjar | {
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| 28 | |||
| 29 | |||
| 30 | case 0: orb_set_color(RED); break;
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| 31 | case 1: orb_set_color(ORANGE); break;
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| 32 | case 2: orb_set_color(YELLOW); break;
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| 33 | case 3: orb_set_color(LIME); break;
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| 34 | case 4: orb_set_color(GREEN); break;
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| 35 | case 5: orb_set_color(CYAN); break;
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| 36 | case 6: orb_set_color(BLUE); break;
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| 37 | case 7: orb_set_color(PINK); break;
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| 38 | case 8: orb_set_color(PURPLE); break;
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| 39 | case 9: orb_set_color(MAGENTA); break;
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| 40 | default: orb_set_color(WHITE); break;
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| 41 | |||
| 42 | 1842 | djacobs | case 0:
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| 43 | straight();
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| 44 | turnRight();
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| 45 | break;
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| 46 | case 2:
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| 47 | straight();
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| 48 | break;
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| 49 | case 3:
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| 50 | straight();
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| 51 | turnLeft();
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| 52 | break;
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| 53 | 1845 | dgurjar | |
| 54 | 1842 | djacobs | }
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| 55 | 1845 | dgurjar | */
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| 56 | 1842 | djacobs | } |
| 57 | 1836 | dgurjar | return 0; |
| 58 | } |
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| 59 | 1851 | djacobs | void right()
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| 60 | 1842 | djacobs | {
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| 61 | motor_r_set(BACKWARD, 200);
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| 62 | motor_l_set(FORWARD, 200);
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| 63 | delay_ms(400);
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| 64 | } |
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| 65 | |||
| 66 | |||
| 67 | void straight()
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| 68 | {
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| 69 | motor_r_set(FORWARD, 210);
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| 70 | motor_l_set(FORWARD, 210);
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| 71 | delay_ms(200);
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| 72 | move(0,0); |
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| 73 | delay_ms(2000);
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| 74 | } |
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| 75 | |||
| 76 | 1851 | djacobs | void left()
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| 77 | 1842 | djacobs | {
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| 78 | motor_l_set(BACKWARD, 200);
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| 79 | motor_r_set(FORWARD, 200);
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| 80 | delay_ms(400);
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| 81 | } |