Revision 1940
updated linefollowing for new line sensors
| trunk/code/projects/linefollowing/main.c | ||
|---|---|---|
| 21 | 21 |
int barCode; |
| 22 | 22 |
while(1) |
| 23 | 23 |
{
|
| 24 |
/*usb_puti(read_line(0)); |
|
| 25 |
delay_ms(10); |
|
| 26 |
usb_putc('\t');
|
|
| 27 |
usb_puti(read_line(0)); |
|
| 28 |
delay_ms(10); |
|
| 29 |
usb_putc('\t');
|
|
| 30 |
usb_puti(read_line(6)); |
|
| 31 |
delay_ms(10); |
|
| 32 |
usb_putc('\t');
|
|
| 33 |
usb_puti(read_line(6)); |
|
| 34 |
delay_ms(10); |
|
| 35 |
usb_putc('\t');
|
|
| 36 |
usb_puti(read_line(7)); |
|
| 37 |
delay_ms(10); |
|
| 38 |
usb_putc('\t');
|
|
| 39 |
usb_puti(read_line(7)); |
|
| 40 |
delay_ms(10); |
|
| 41 |
usb_putc('\t');
|
|
| 42 |
usb_puti(read_line(5)); |
|
| 43 |
delay_ms(10); |
|
| 44 |
usb_putc('\t');
|
|
| 45 |
usb_puti(read_line(5)); |
|
| 46 |
delay_ms(10); |
|
| 47 |
usb_putc('\t');
|
|
| 48 |
usb_putc(13); |
|
| 49 |
delay_ms(10);*/ |
|
| 50 |
/* |
|
| 51 |
usb_puti(read_line(0)); |
|
| 52 |
usb_putc('\t');
|
|
| 53 |
usb_puti(read_line(4)); |
|
| 54 |
usb_putc('\t');
|
|
| 55 |
usb_puti(read_line(2)); |
|
| 56 |
usb_putc('\t');
|
|
| 57 |
usb_puti(read_line(6)); |
|
| 58 |
usb_putc('\t');
|
|
| 59 |
usb_puti(read_line(1)); |
|
| 60 |
usb_putc('\t');
|
|
| 61 |
usb_puti(read_line(5)); |
|
| 62 |
usb_putc('\t');
|
|
| 63 |
usb_puti(read_line(3)); |
|
| 64 |
usb_putc('\t');
|
|
| 65 |
usb_puti(read_line(7)); |
|
| 66 |
usb_putc('\t');
|
|
| 67 |
usb_putc(13); |
|
| 68 |
*/ |
|
| 69 |
usb_puti(read_line(0)); |
|
| 70 |
usb_putc('\t');
|
|
| 71 |
usb_puti(read_line(1)); |
|
| 72 |
usb_putc('\t');
|
|
| 73 |
usb_puti(read_line(2)); |
|
| 74 |
usb_putc('\t');
|
|
| 75 |
usb_puti(read_line(3)); |
|
| 76 |
usb_putc('\t');
|
|
| 77 |
usb_puti(read_line(4)); |
|
| 78 |
usb_putc('\t');
|
|
| 79 |
usb_puti(read_line(5)); |
|
| 80 |
usb_putc('\t');
|
|
| 81 |
usb_puti(read_line(6)); |
|
| 82 |
usb_putc('\t');
|
|
| 83 |
usb_puti(read_line(7)); |
|
| 84 |
usb_putc('\t');
|
|
| 85 |
usb_putc(13); |
|
| 86 |
|
|
| 87 |
/* |
|
| 88 |
|
|
| 89 |
for(int q=0; q<500; q++) |
|
| 90 |
barCode = lineFollow(200); |
|
| 91 |
while(mergeLeft()); |
|
| 92 |
for(int q=0; q<1000; q++)lineFollow(200); |
|
| 93 | 24 |
|
| 94 |
continue; |
|
| 95 |
if(barCode==-25)while(turnRight()); |
|
| 96 |
continue; |
|
| 97 |
if(barCode != -2 && barCode != LINELOST) |
|
| 98 |
{
|
|
| 99 |
usb_puti(barCode); |
|
| 100 |
usb_putc('\n');
|
|
| 101 |
} |
|
| 102 |
*/ |
|
| 25 |
lineFollow(200); |
|
| 103 | 26 |
|
| 104 | 27 |
|
| 105 | 28 |
|
| 106 |
/* |
|
| 107 |
|
|
| 108 |
switch (barCode) |
|
| 109 |
{
|
|
| 110 |
|
|
| 111 |
|
|
| 112 |
case 0: orb_set_color(RED); break; |
|
| 113 |
case 1: orb_set_color(ORANGE); break; |
|
| 114 |
case 2: orb_set_color(YELLOW); break; |
|
| 115 |
case 3: orb_set_color(LIME); break; |
|
| 116 |
case 4: orb_set_color(GREEN); break; |
|
| 117 |
case 5: orb_set_color(CYAN); break; |
|
| 118 |
case 6: orb_set_color(BLUE); break; |
|
| 119 |
case 7: orb_set_color(PINK); break; |
|
| 120 |
case 8: orb_set_color(PURPLE); break; |
|
| 121 |
case 9: orb_set_color(MAGENTA); break; |
|
| 122 |
default: orb_set_color(WHITE); break; |
|
| 123 | 29 |
|
| 124 |
case 0: |
|
| 125 |
straight(); |
|
| 126 |
turnRight(); |
|
| 127 |
break; |
|
| 128 |
case 2: |
|
| 129 |
straight(); |
|
| 130 |
break; |
|
| 131 |
case 3: |
|
| 132 |
straight(); |
|
| 133 |
turnLeft(); |
|
| 134 |
break; |
|
| 135 |
|
|
| 136 |
} |
|
| 137 |
*/ |
|
| 138 | 30 |
} |
| 139 | 31 |
return 0; |
| 140 | 32 |
} |
| trunk/code/projects/linefollowing/lineFollow.c | ||
|---|---|---|
| 245 | 245 |
|
| 246 | 246 |
void updateLine(int* values) |
| 247 | 247 |
{
|
| 248 |
int ports[5] = {13, 12, 3, 2, 9};
|
|
| 249 | 248 |
for(int i = 0; i<5; i++) |
| 250 |
values[i] = analog_get10(ports[i])<150 ? LWHITE : LBLACK;
|
|
| 249 |
values[i] = (read_line(4-i)<150 ? LWHITE : LBLACK);
|
|
| 251 | 250 |
} |
| 252 | 251 |
|
| 253 | 252 |
|
Also available in: Unified diff