Colony

#include <dragonfly_lib.h>

#ifndef _LINEFOLLOW_H_

#define _LINEFOLLOW_H_

#define LWHITE                        0

#define LGREY                        1

#define LBLACK                         2

#define CENTER                        3

#define NOLINE                        -42     //! Magic number?

#define LINELOST                -1

#define NOBARCODE                 -2

#define INTERSECTION                 -25 //! Magic number?

#define FULL_LINE                 -26     //! Magic number?

/*         lineFollow_init

        Must call before lineFollow

        Turns analog loop off

*/ 

void lineFollow_init(void);

/*        lineFollow

        Must call lineFollow first

        Must be called inside a loop

*/

int lineFollow(int speed);

/*        turnLeft turnRight mergeLeft mergeRight

        Must be called inside a loop

        returns 0 when complete

*/

int turnLeft(void);

int turnRight(void);

int mergeLeft(void);

int mergeRight(void);

/**

 * @brief Updates the values stored in the array to white or black based on

 * current sensor readings.

 *

 * @param values The array of five integers to be updated. 

 **/

void updateLine(int* values); 

/**

 * @brief Returns an index of the middle of the line based on line readings.

 *

 * Two special return values are possible:

 *   NOLINE if none of the sensors holds a black value, and

 *   FULL_LINE if all of the sensors see black.

 *

 * Otherwise, returns a value from -4 (farthest left) to 4 (farthest right), with

 * 0 the line being centered in the middle.

 *

 * @param colors The array of 5 readings from the line sensor.  Must be either

 *    LWHITE or LBLACK.

 * @return Either a special value or an index from -4 to 4.

 *

 **/

int lineLocate(int* colors);

/*        updatebarCode

        Reads in and processes

        bar code data

*/

void updateBarCode(void);

/**

 * @brief Gets the completed value read by the barcode reader, or NOBARCODE.

 *

 * Returns a bar code if available (if at the end of a barcode) and resets the

 * barcodePosition to 0. Otherwise, return NOBARCODE.  *

 * @return The value of the barcode if a complete barcode, else NOBARCODE.

 **/

int getBarCode(void);

//! A simple function to return the minimum of two integers.

int min(int x, int y);

//! A simple function to return the maximum of two integers.

int max(int x, int y);

/*        motorLeft

        Commands the left motor

        Cannot be used to stop

        0-126 are backward

        127-255 are forward

*/

void motorLeft(int speed);

/*        motorRight

        Commands the right motor

        Cannot be used to stop

        0-126 are backward

        127-255 are forward

*/

void motorRight(int speed);

/*        lost

        Internal counter to detect if the line was lost

*/

int lost;

int onLine(void);

#endif