/ - Diff - Colony - Robotics Club

     #define BLACK	 		2
     #define CENTER			3
     #define NOLINE			-42
     #define SPEED			170
     #define LINELOST		-1
     /* 	lineFollow_init
-...
     	Must call lineFollow first
     	Must be called inside a loop
     */
     int lineFollow();
     int lineFollow(int speed);
     /*	assignColor
     	Converts an analog color to WHITE or BLACK
     /*	turnLeft and turnRight
     	Must be called inside a loop
     	returns 0 when complete
     */
     int assignColor(int port, int analog);
     int turnLeft();
     int turnRight();
     /*	updateIR
     	Gets the value of the nth line sensor
     */
     int updateIR(int n);
     /*	updateLine
     	Reads in the analog values
     	Fills the given array with WHITE
     	or BLACK representing the line
     */

trunk/code/projects/linefollowing/main.c
12	12	int barCode;
13	13	while(1)
14	14	{
15		barCode = lineFollow();
	15	//for(int q=0; q<500; q++)
	16	barCode = lineFollow(200);
	17	if(barCode==-25)while(turnLeft());
	18	continue;
16	19	if(barCode != -2 && barCode != LINELOST)
17	20	{
18	21	usb_puti(barCode);
...	...
53	56	}
54	57	return 0;
55	58	}
56		void turnRight()
	59	void right()
57	60	{
58	61	motor_r_set(BACKWARD, 200);
59	62	motor_l_set(FORWARD, 200);
...	...
70	73	delay_ms(2000);
71	74	}
72	75
73		void turnLeft()
	76	void left()
74	77	{
75	78	motor_l_set(BACKWARD, 200);
76	79	motor_r_set(FORWARD, 200);

     #define NOBARCODE -2
     #define CODESIZE 5
     #define INTERSECTION -25
     #define FULL_LINE -26
     int countHi = 0;
     int countLo = 0;
-...
     int barCode[ CODESIZE ];
     int barCodePosition=0;
     int turnDistance=0;
     int intersection=0;
     int disableBarCode=0;
     void lineFollow_init()
+    {
     	analog_init(0);
     	lost = 0;
     	intersection=0;
     	disableBarCode=0;
+    }
     int lineFollow()
     int lineFollow(int speed)
+    {
     	int colors[6];
     	int colors[5];
     	int position;
-...
     			return LINELOST;
+    		}
+    	}
     	else if(position == FULL_LINE)
+    	{
     		if(intersection++>4)
+    		{
     			orb2_set_color(RED);
     			barCodePosition=0;
     			disableBarCode=15;
     			return INTERSECTION;
+    		}
+    	}
     	//on line
     	else
+    	{
     		position*=30;
     		orb2_set_color(ORB_OFF);
     		motorLeft(min(SPEED+position, 150));
     		motorRight(min(SPEED-position, 150));
     		motorLeft(min(speed+position, 255));
     		motorRight(min(speed-position, 255));
     		lost=0;
     		intersection=0;
+    	}
     	if(disableBarCode)
+    	{
     		disableBarCode--;
     		return NOBARCODE;
+    	}
     	updateBarCode();
     	return getBarCode();
+    }
     int getBarCode(){
     int turnLeft()
+    {
     	motor_l_set(BACKWARD, 200);
     	motor_r_set(FORWARD, 200);
     	int colors[5];
     	updateLine(colors);
     	int position = lineLocate(colors);
     	if(position==NOLINE)turnDistance++;
     	else if(turnDistance>10) return 0;//turnDistance = 0;
     	return 1;
+    }
     int turnRight()
+    {
             motor_r_set(BACKWARD, 200);
             motor_l_set(FORWARD, 200);
             int colors[5];
             updateLine(colors);
             int position = lineLocate(colors);
             if(position==NOLINE)turnDistance++;
             else if(turnDistance>10) return 0;//turnDistance = 0;
             return 1;
+    }
     int getBarCode()
+    {
     	if(barCodePosition!=CODESIZE) return NOBARCODE ;
     	int temp = 0;
     	int i;
-...
     void updateLine(int* values)
+    {
     	int ports[5] = {13, 12, 3, 2, 9};
     	for(int i = 0; i<5; i++)
     		values[i] = assignColor(i, updateIR(i));
     		values[i] = analog_get10(ports[i])<150 ? WHITE : BLACK;
+    }
     int updateIR(int n)
+    {
     	//maps the sensors to the analog input ports
     	int ports[5] = {13, 12, 3, 2, 9};
     	return analog_get10(ports[n]);
+    }
     int assignColor(int port, int analog)
+    {
     	if (analog < 150)
     		return  WHITE;
     	else
     		return  BLACK;
+    }
     int lineLocate(int* colors)
+    {
     	int i;
-...
     		wsum += (i)*colors[i];
+    	}
     	if(count==0)
     			return NOLINE;
     		return NOLINE;
     	if(count==5)
     		return FULL_LINE;
     	return (wsum/count)-4;
+    }
-...
     			countHi=countLo=0;
     			if(maxAvg>825)orb1_set_color(RED);
     			else orb1_set_color(BLUE);
     			barCode[barCodePosition++] = (maxAvg > 825 ? 2:1)-1;
     			barCode[barCodePosition++] = maxAvg > 825 ? 1:0;
+    		}
+    	}
     	else countHi/=2;

     USE_WIRELESS = 1
     # com1 = serial port. Use lpt1 to connect to parallel port.
     AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/tty.usbserial-*'; fi)
     AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)
     else
     COLONYROOT := ../$(COLONYROOT)

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Revision 1851