root / trunk / code / projects / linefollowing / main.c @ 1942
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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 | 1942 | azirbel | * 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 | 1922 | azirbel | |
| 19 | 1942 | azirbel | /* initialize components, set wireless channel */
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| 20 | dragonfly_init(ALL_ON); |
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| 21 | lineFollow_init(); |
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| 22 | 1922 | azirbel | |
| 23 | 1942 | azirbel | /*while(1)
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| 24 | {
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| 25 | usb_puti(read_line(0));
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| 26 | usb_putc('\t');
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| 27 | usb_puti(read_line(1));
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| 28 | usb_putc('\t');
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| 29 | usb_puti(read_line(2));
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| 30 | usb_putc('\t');
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| 31 | usb_puti(read_line(3));
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| 32 | usb_putc('\t');
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| 33 | usb_puti(read_line(4));
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| 34 | usb_putc('\t');
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| 35 | usb_puti(read_line(5));
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| 36 | usb_putc('\t');
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| 37 | usb_puti(read_line(6));
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| 38 | usb_putc('\t');
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| 39 | usb_puti(read_line(7));
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| 40 | usb_putc('\t');
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| 41 | usb_putc(13);
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| 42 | }*/
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| 43 | 1922 | azirbel | |
| 44 | 1942 | azirbel | int barCode;
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| 45 | while(1) |
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| 46 | {
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| 47 | |||
| 48 | int barcode = lineFollow(200); |
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| 49 | |||
| 50 | if(barcode != NOBARCODE)
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| 51 | {
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| 52 | usb_puti(barcode); |
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| 53 | usb_puts("\n");
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| 54 | } |
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| 55 | |||
| 56 | } |
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| 57 | return 0; |
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| 58 | 1836 | dgurjar | } |
| 59 | 1851 | djacobs | void right()
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| 60 | 1842 | djacobs | {
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| 61 | 1942 | azirbel | motor_r_set(BACKWARD, 200);
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| 62 | motor_l_set(FORWARD, 200);
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| 63 | delay_ms(400);
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| 64 | 1842 | djacobs | } |
| 65 | |||
| 66 | void straight()
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| 67 | {
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| 68 | 1942 | azirbel | motor_r_set(FORWARD, 210);
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| 69 | motor_l_set(FORWARD, 210);
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| 70 | delay_ms(200);
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| 71 | move(0,0); |
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| 72 | delay_ms(2000);
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| 73 | 1842 | djacobs | } |
| 74 | |||
| 75 | 1851 | djacobs | void left()
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| 76 | 1842 | djacobs | {
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| 77 | 1942 | azirbel | motor_l_set(BACKWARD, 200);
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| 78 | motor_r_set(FORWARD, 200);
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| 79 | delay_ms(400);
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| 80 | 1842 | djacobs | } |