root / trunk / code / projects / linefollowing / main.c @ 1924
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#include <dragonfly_lib.h> |
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#include <lineFollow.h> |
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/*
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* read_line 0 = Sensor 1
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* read_line 1 = Sensor 8
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* read_line 2 = Sensor 4
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* read_line 3 = Sensor 6
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* read_line 4 = Sensor 2
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* read_line 5 = Sensor 7
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* read_line 6 = Sensor 3
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* read_line 7 = Sensor 5
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*/
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int main(void) |
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{
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/* initialize components, set wireless channel */
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dragonfly_init(ALL_ON); |
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lineFollow_init(); |
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int barCode;
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while(1) |
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{
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/*usb_puti(read_line(0));
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delay_ms(10);
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usb_putc('\t');
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usb_puti(read_line(0));
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delay_ms(10);
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usb_putc('\t');
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usb_puti(read_line(6));
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delay_ms(10);
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usb_putc('\t');
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usb_puti(read_line(6));
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delay_ms(10);
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usb_putc('\t');
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usb_puti(read_line(7));
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delay_ms(10);
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usb_putc('\t');
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usb_puti(read_line(7));
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delay_ms(10);
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usb_putc('\t');
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usb_puti(read_line(5));
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delay_ms(10);
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usb_putc('\t');
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usb_puti(read_line(5));
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delay_ms(10);
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usb_putc('\t');
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usb_putc(13);
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delay_ms(10);*/
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/*
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usb_puti(read_line(0));
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usb_putc('\t');
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usb_puti(read_line(4));
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usb_putc('\t');
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usb_puti(read_line(2));
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usb_putc('\t');
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usb_puti(read_line(6));
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usb_putc('\t');
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usb_puti(read_line(1));
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usb_putc('\t');
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usb_puti(read_line(5));
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usb_putc('\t');
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usb_puti(read_line(3));
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usb_putc('\t');
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usb_puti(read_line(7));
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usb_putc('\t');
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usb_putc(13);
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*/
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usb_puti(read_line(0));
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usb_putc('\t');
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usb_puti(read_line(1));
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usb_putc('\t');
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usb_puti(read_line(2));
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usb_putc('\t');
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usb_puti(read_line(3));
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usb_putc('\t');
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usb_puti(read_line(4));
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usb_putc('\t');
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usb_puti(read_line(5));
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usb_putc('\t');
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usb_puti(read_line(6));
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usb_putc('\t');
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usb_puti(read_line(7));
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usb_putc('\t');
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usb_putc(13);
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/*
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for(int q=0; q<500; q++)
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barCode = lineFollow(200);
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while(mergeLeft());
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for(int q=0; q<1000; q++)lineFollow(200);
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continue;
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if(barCode==-25)while(turnRight());
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continue;
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if(barCode != -2 && barCode != LINELOST)
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{
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usb_puti(barCode);
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usb_putc('\n');
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}
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*/
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/*
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switch (barCode)
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{
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case 0: orb_set_color(RED); break;
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case 1: orb_set_color(ORANGE); break;
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case 2: orb_set_color(YELLOW); break;
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case 3: orb_set_color(LIME); break;
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case 4: orb_set_color(GREEN); break;
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case 5: orb_set_color(CYAN); break;
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case 6: orb_set_color(BLUE); break;
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case 7: orb_set_color(PINK); break;
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case 8: orb_set_color(PURPLE); break;
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case 9: orb_set_color(MAGENTA); break;
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default: orb_set_color(WHITE); break;
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case 0:
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straight();
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turnRight();
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break;
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case 2:
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straight();
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break;
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case 3:
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straight();
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turnLeft();
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break;
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}
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*/
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} |
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return 0; |
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} |
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void right()
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{
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motor_r_set(BACKWARD, 200);
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motor_l_set(FORWARD, 200);
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delay_ms(400);
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} |
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void straight()
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{
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motor_r_set(FORWARD, 210);
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motor_l_set(FORWARD, 210);
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delay_ms(200);
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move(0,0); |
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delay_ms(2000);
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} |
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void left()
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{
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motor_l_set(BACKWARD, 200);
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motor_r_set(FORWARD, 200);
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delay_ms(400);
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} |