root / trunk / code / projects / linefollowing / main.c @ 1940
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1 | 16 | bcoltin | #include <dragonfly_lib.h> |
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2 | 1841 | djacobs | #include <lineFollow.h> |
3 | 16 | bcoltin | |
4 | 1923 | pdeo | /*
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5 | * read_line 0 = Sensor 1
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6 | * read_line 1 = Sensor 8
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7 | * read_line 2 = Sensor 4
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8 | * read_line 3 = Sensor 6
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9 | * read_line 4 = Sensor 2
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10 | * read_line 5 = Sensor 7
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11 | * read_line 6 = Sensor 3
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12 | * read_line 7 = Sensor 5
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13 | */
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14 | 1836 | dgurjar | |
15 | 857 | bcoltin | int main(void) |
16 | { |
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17 | 1419 | jsexton | |
18 | 967 | alevkoy | /* initialize components, set wireless channel */
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19 | 857 | bcoltin | dragonfly_init(ALL_ON); |
20 | 1841 | djacobs | lineFollow_init(); |
21 | 1842 | djacobs | int barCode;
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22 | 1841 | djacobs | while(1) |
23 | 1842 | djacobs | { |
24 | 1854 | djacobs | |
25 | 1940 | djacobs | lineFollow(200);
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26 | 1922 | azirbel | |
27 | |||
28 | |||
29 | 1845 | dgurjar | |
30 | 1842 | djacobs | } |
31 | 1836 | dgurjar | return 0; |
32 | } |
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33 | 1851 | djacobs | void right()
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34 | 1842 | djacobs | { |
35 | motor_r_set(BACKWARD, 200);
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36 | motor_l_set(FORWARD, 200);
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37 | delay_ms(400);
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38 | } |
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39 | |||
40 | void straight()
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41 | { |
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42 | motor_r_set(FORWARD, 210);
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43 | motor_l_set(FORWARD, 210);
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44 | delay_ms(200);
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45 | move(0,0); |
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46 | delay_ms(2000);
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47 | } |
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48 | |||
49 | 1851 | djacobs | void left()
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50 | 1842 | djacobs | { |
51 | motor_l_set(BACKWARD, 200);
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52 | motor_r_set(FORWARD, 200);
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53 | delay_ms(400);
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54 | } |