root / trunk / code / projects / linefollowing / lineDrive.h @ 1931
History | View | Annotate | Download (649 Bytes)
1 | 1855 | djacobs | #ifndef _LINE_DRIVE_
|
---|---|---|---|
2 | #define _LINE_DRIVE_
|
||
3 | |||
4 | #include "lineFollow.h" |
||
5 | |||
6 | 1931 | djacobs | /* Old definitions, delete as soon as possible
|
7 | #define DOUBLE 0
|
||
8 | 1855 | djacobs | #define SINGLE 1
|
9 | #define ON_RAMP 2
|
||
10 | #define OFF_RAMP 3
|
||
11 | 1931 | djacobs | */
|
12 | 1855 | djacobs | |
13 | 1931 | djacobs | #define SINGLE 0 |
14 | #define ON_RAMP 1 |
||
15 | #define OFF_RAMP 2 |
||
16 | #define DOUBLE_C 3 |
||
17 | #define DOUBLE_T 4 |
||
18 | |||
19 | 1855 | djacobs | #define ISTRAIGHT 0 |
20 | #define ILEFT 1 |
||
21 | #define IRIGHT 2 |
||
22 | #define IUTURN 3 |
||
23 | |||
24 | #define MERGELEFT 4 |
||
25 | #define MERGERIGHT 5 |
||
26 | |||
27 | #define NORMAL -1 |
||
28 | #define FINISHED -2 |
||
29 | #define LOST -3 |
||
30 | #define ERROR -4 |
||
31 | |||
32 | |||
33 | |||
34 | void lineDrive_init(void); |
||
35 | |||
36 | |||
37 | |||
38 | int doDrive(int speed); |
||
39 | |||
40 | void start(void); |
||
41 | void stop(void); |
||
42 | |||
43 | |||
44 | int merge(int dir); |
||
45 | |||
46 | int turn(int type, int dir); |
||
47 | |||
48 | #endif |