Revision 1851
Added turning
| lineFollow.h | ||
|---|---|---|
| 8 | 8 |
#define BLACK 2 |
| 9 | 9 |
#define CENTER 3 |
| 10 | 10 |
#define NOLINE -42 |
| 11 |
#define SPEED 170 |
|
| 12 | 11 |
#define LINELOST -1 |
| 13 | 12 |
|
| 14 | 13 |
/* lineFollow_init |
| ... | ... | |
| 21 | 20 |
Must call lineFollow first |
| 22 | 21 |
Must be called inside a loop |
| 23 | 22 |
*/ |
| 24 |
int lineFollow(); |
|
| 23 |
int lineFollow(int speed);
|
|
| 25 | 24 |
|
| 26 |
/* assignColor |
|
| 27 |
Converts an analog color to WHITE or BLACK |
|
| 25 |
/* turnLeft and turnRight |
|
| 26 |
Must be called inside a loop |
|
| 27 |
returns 0 when complete |
|
| 28 | 28 |
*/ |
| 29 |
int assignColor(int port, int analog); |
|
| 29 |
int turnLeft(); |
|
| 30 |
int turnRight(); |
|
| 30 | 31 |
|
| 31 |
/* updateIR |
|
| 32 |
Gets the value of the nth line sensor |
|
| 33 |
*/ |
|
| 34 |
int updateIR(int n); |
|
| 35 |
|
|
| 36 | 32 |
/* updateLine |
| 33 |
Reads in the analog values |
|
| 37 | 34 |
Fills the given array with WHITE |
| 38 | 35 |
or BLACK representing the line |
| 39 | 36 |
*/ |
Also available in: Unified diff