Revision 1931
fixed ??? trunk
| lineFollow.c | ||
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/** |
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* @file lineFollow.c |
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* @defgroup lineFollwing Line Following |
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* |
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* Takes care of following a line. Running this program is done by calling the |
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* init() function and then the lineFollow(speed) command. However, direct use |
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* of this class is discouraged as its behavior is used by lineDrive.c, which |
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* extends this class to provide behavior functionality. |
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* |
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* @author Dan Jacobs |
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* @author Dan Jacobs and the Colony Project
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* @date 11-1-2010 |
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*/ |
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#include "lineFollow.h" |
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//! The number of bits expected in a barcode |
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#define CODESIZE 5 |
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int countHi = 0; |
| ... | ... | |
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int barCodePosition=0; |
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int turnDistance=0; |
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//! Counts the number of full line readings before we determine an intersection |
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int intersectionFilter=0; |
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int disableBarCode=0; |
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//! Keeps track of where the encoder of one motor started, for use in turns. |
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int encoderStart = -1; |
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int encoderReset = 0; // 0 if encoderStart has no value set |
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/** |
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* Initializes line following. Must be called before other line-following |
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* behavior will work. |
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*/ |
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void lineFollow_init() |
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{
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analog_init(0); |
| ... | ... | |
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//not on line |
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if(position == NOLINE) |
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{
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if(lost++>20)
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if(lost++ > 20)
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{
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orb2_set_color(GREEN); |
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motors_off(); |
| ... | ... | |
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} |
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else if(position == FULL_LINE) |
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{
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if(intersectionFilter++>4)
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if(intersectionFilter++ > 4)
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{
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orb2_set_color(RED); |
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barCodePosition=0; |
| ... | ... | |
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/** |
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* Turns left at a cross of two lines. Assumes that we are at lines in a cross |
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* pattern, and turns until it sets straight on the new line. |
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* @return 1 if the turn was executed successfully, 0 otherwise.
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* @return 0 if turn finishes otherwise return 1
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*/ |
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int turnLeft() |
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{
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motor_l_set(BACKWARD, 200); |
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/*motor_l_set(BACKWARD, 200);
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motor_r_set(FORWARD, 200); |
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int colors[5]; |
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updateLine(colors); |
| ... | ... | |
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return 0; |
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} |
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} |
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return 1;*/ |
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motor_l_set(BACKWARD,200); |
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motor_r_set(FORWARD,200); |
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if(!encoderReset) |
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{
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encoderStart = encoder_get_x(RIGHT); |
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encoderReset = 1; |
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} |
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if(encoder_get_x(RIGHT) < encoderStart) |
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{
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encoderStart = 0; |
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// Temporary: display an "error message" in case of overflow. |
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// Using this for debugging, take it out soon! |
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motor_l_set(FORWARD,0); |
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motor_r_set(FORWARD,0); |
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orb_set_color(WHITE); |
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delay_ms(2000); |
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} |
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if(encoder_get_x(RIGHT) - encoderStart > 300) |
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{
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encoderReset = 0; |
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return 0; |
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} |
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return 1; |
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} |
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|
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/** |
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* Turns right at a cross of two lines. Assumes that we are at lines in a cross |
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* pattern, and turns until it sets straight on the new line. |
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* @return 1 if the turn was executed successfully, 0 otherwise.
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* @return 0 if the turn finishes otherwise return 1
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*/ |
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int turnRight() |
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{
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| ... | ... | |
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int getBarCode() |
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{
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if(barCodePosition!=CODESIZE) return NOBARCODE ; |
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int temp = 0; |
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int i; |
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for(i=0; i<CODESIZE; i++) |
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for(int i=0; i<CODESIZE; i++) |
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temp += (barCode[i] << i); |
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barCodePosition = 0; |
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return temp; |
| ... | ... | |
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return NOLINE; |
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if(count==5) |
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return FULL_LINE; |
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return (wsum/count)-4; |
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return (wsum/count)-4; // Subtract 4 to center the index around the center.
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} |
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void updateBarCode() |
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{
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//! Note: currently only uses one of the barcode sensors. |
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//NOTE: currently only uses one of the barcode sensors. |
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//maps the sensors to the analog input ports |
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int ports[2] = {8,1};
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int current[2]; |
| ... | ... | |
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} |
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//! A simple function to return the minimum of two integers. |
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int min(int x, int y){return x>y ? y : x;}
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//! A simple function to return the maximum of two integers. |
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int max(int x, int y){return x<y ? y : x;}
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void motorLeft(int speed){
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