/ - Diff - Colony - Robotics Club

     #define NOLINE			-50
     #define FULL_LINE 		-51
     // Number of consecutive barcode color readings to establish a significant
     // reading.
     #define MAX_DURATION    20
     /**
      * @brief Initializes line following.
+     *

     #include <lineFollow.h>
     /*
     *  read_line 0 = Sensor 1
     *  read_line 1 = Sensor 8
     *  read_line 2 = Sensor 4
     *  read_line 3 = Sensor 6
     *  read_line 4 = Sensor 2
     *  read_line 5 = Sensor 7
     *  read_line 6 = Sensor 3
     *  read_line 7 = Sensor 5
     */
      *  read_line 0 = Sensor 1
      *  read_line 1 = Sensor 8
      *  read_line 2 = Sensor 4
      *  read_line 3 = Sensor 6
      *  read_line 4 = Sensor 2
      *  read_line 5 = Sensor 7
      *  read_line 6 = Sensor 3
      *  read_line 7 = Sensor 5
      */
     int main(void)
+    {
     	/* initialize components, set wireless channel */
     	dragonfly_init(ALL_ON);
     	lineFollow_init();
     	int barCode;
     	while(1)
+    	{
     		lineFollow(200);
         /* initialize components, set wireless channel */
         dragonfly_init(ALL_ON);
         lineFollow_init();
         /*while(1)
+        {
             usb_puti(read_line(0));
             usb_putc('\t');
             usb_puti(read_line(1));
             usb_putc('\t');
             usb_puti(read_line(2));
             usb_putc('\t');
             usb_puti(read_line(3));
             usb_putc('\t');
             usb_puti(read_line(4));
             usb_putc('\t');
             usb_puti(read_line(5));
             usb_putc('\t');
             usb_puti(read_line(6));
             usb_putc('\t');
             usb_puti(read_line(7));
             usb_putc('\t');
             usb_putc(13);
         }*/
+    	}
     	return 0;
         int barCode;
         while(1)
+        {
             int barcode = lineFollow(200);
             if(barcode != NOBARCODE)
+            {
                 usb_puti(barcode);
                 usb_puts("\n");
+            }
+        }
         return 0;
+    }
     void right()
+    {
     motor_r_set(BACKWARD, 200);
     motor_l_set(FORWARD, 200);
     delay_ms(400);
         motor_r_set(BACKWARD, 200);
         motor_l_set(FORWARD, 200);
         delay_ms(400);
+    }
     void straight()
+    {
     motor_r_set(FORWARD, 210);
     motor_l_set(FORWARD, 210);
     delay_ms(200);
     move(0,0);
     delay_ms(2000);
         motor_r_set(FORWARD, 210);
         motor_l_set(FORWARD, 210);
         delay_ms(200);
         move(0,0);
         delay_ms(2000);
+    }
     void left()
+    {
     motor_l_set(BACKWARD, 200);
     motor_r_set(FORWARD, 200);
     delay_ms(400);
         motor_l_set(BACKWARD, 200);
         motor_r_set(FORWARD, 200);
         delay_ms(400);
+    }

     int barCode[ CODESIZE ];
     int barCodePosition=0;
     int duration = 0;
     int lastColor = 0;
     char isReset = 0;
     int turnDistance=0;
     //! Counts the number of full line readings before we determine an intersection
     int intersectionFilter=0;
-...
     		intersectionFilter=0;
+    	}
     	if(disableBarCode--)
         // If we're running over a line, stop reading barcodes for a sec
     	if(disableBarCode-- > 0)
+    	{
     		if(disableBarCode)return NOBARCODE;
             // Return intersection once we cross the line
     		if(disableBarCode) return NOBARCODE;
     		return INTERSECTION;
+    	}
     	updateBarCode();
-...
     int getBarCode()
+    {
     	if(barCodePosition!=CODESIZE) return NOBARCODE ;
     	int temp = 0;
     	for(int i=0; i<CODESIZE; i++)
     		temp += (barCode[i] << i);
     	barCodePosition = 0;
     	return temp;
     	if(barCodePosition != CODESIZE)
             return NOBARCODE ;
         else
+        {
             int temp = 0;
             for(int i=0; i<CODESIZE; i++)
                 temp += (barCode[i] << i);
             barCodePosition = 0;
             return temp;
+        }
+    }
-...
     void updateLine(int* values)
+    {
     	for(int i = 0; i<5; i++)
     		values[i] = (read_line(4-i)<150 ? LWHITE : LBLACK);
     		values[i] = (read_line(4-i) < 150 ? LWHITE : LBLACK);
+    }
-...
+    }
     // new version by Alex
     /*void updateBarCode()
+    {
         // Average the readings of the last 2 sensors
         int curReading = (read_line(6) + read_line(7)) / 2;
         int curColor = (curReading > 500) ? LBLACK : LWHITE;
         // USING THESE GLOBAL VARIABLES
         // global int duration = 0;
         // global int lastColor = 0;
         // global int barCodePosition = 0;
         // global char isReset = 0;
         // Just an error check
         if(barCodePosition > CODESIZE)
+        {
             barCodePosition = 0;
+        }
         if(curColor == lastColor)
+        {
             duration++;
+        }
         else
+        {
             duration = 0;
             lastColor = curColor;
+        }
         if(duration > MAX_DURATION)
+        {
             // Now we assume our reading is significant - a bit, or a white space
             // Only read a value if we have read 0 first (isReset == 1)
             if(isReset && (curColor == LBLACK || curColor == LGREY) )
+            {
                 isReset = 0;
                 barCode[barCodePosition++] = (curColor == LBLACK) ? 1 : 0;
+            }
             else if(curColor == LWHITE)
+            {
                 isReset = 1;
+            }
+        }
     }*/
     void updateBarCode()
+    {
     	//! Note: currently only uses one of the barcode sensors.
-...
     	int ports[2] = {8,1};
     	int current[2];
     //	current[0] = analog_get10(ports[0]);
     	current[1] = analog_get10(ports[1]);
     	//current[1] = analog_get10(ports[1]);
         current[1] = read_line(6);
     	if(current[1]>500)
     	if(current[1] > 150)
+    	{
     		if(countHi++==0)
     		if(countHi++ == 0)
+    		{
     			avg = 500;
     			maxAvg = 500;
-...
     			maxAvg = max(maxAvg, avg);
+    		}
+    	}
     	else if(countHi>5)
     	else if(countHi > 5)
+    	{
     		if(countLo++>15)
     		if(countLo++ > 15)
+    		{
     			countHi=countLo=0;
     			if(maxAvg>825)orb1_set_color(RED);
     			countHi = countLo = 0;
     			if(maxAvg > 825)
                     orb1_set_color(RED);
     			else orb1_set_color(BLUE);
     			barCode[barCodePosition++] = maxAvg > 825 ? 1:0;
+    		}

     /** Returns the 10 bit value from the line sensors **/
     unsigned int read_line(int which) {
     unsigned int read_line(int which)
+    {
         int adc_h;
         int adc_l;
-...
         ADMUX = ADMUX_OPT + AN1;
          which = ((which&1)<<2) + ((which&2)) + ((which&4)>>2);
         which = ((which&1)<<2) + ((which&2)) + ((which&4)>>2);
         // mask so only proper bits are possible.
         PORTD = (PORTD & 0x1F) | ((which & 0x07) << 5);

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Revision 1942