/ - Diff - Colony - Robotics Club

     #define NOLINE			-50
     #define FULL_LINE 		-51
     // Number of consecutive barcode color readings to establish a significant
     // reading.
     //! Number of consecutive barcode color readings for a significant reading.
     #define MAX_DURATION    20
     //! Number of consecutive white barcode readings before a barcode reset.
     #define TIMEOUT_DURATION    1000
     //! Anything lower than this value is white
     #define GREY_THRESHOLD 100
     //! Anything higher than this value is black
     #define BLACK_THRESHOLD 350
     /**
      * @brief Initializes line following.

trunk/code/projects/linefollowing/main.c
45	45	while(1)
46	46	{
47	47
48		int barcode = lineFollow(200);
	48	int barcode = lineFollow(170);
49	49
50		if(barcode != NOBARCODE)
	50	if(barcode != NOBARCODE && barcode != LINELOST)
51	51	{
52	52	usb_puti(barcode);
53	53	usb_puts("\n");

     // new version by Alex
     /*void updateBarCode()
     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;
         // Average the readings of the last 2 sensors
         if(read_line(6) - read_line(7) > 150 || read_line(6) - read_line(7) < -150)
+        {
             return;
+        }
         int curReading = (read_line(6) + read_line(7)) / 2;
         int curColor;
         if(curReading > BLACK_THRESHOLD)
             curColor = LBLACK;
         else if(curReading < GREY_THRESHOLD)
             curColor = LWHITE;
         else
             curColor = LGREY;
         // Just an error check
         if(barCodePosition > CODESIZE)
+        {
             barCodePosition = 0;
+        }
         // We are only interested in consecutive color values
         if(curColor == lastColor)
+        {
             duration++;
-...
             if(isReset && (curColor == LBLACK || curColor == LGREY) )
+            {
                 isReset = 0;
                 usb_puts("Read barcode bit: ");
                 usb_puti(barCodePosition);
                 usb_puts(" = ");
                 usb_puti(curColor);
                 usb_puts(", curReading = ");
                 usb_puti(curReading);
                 usb_puts(".\n");
                 barCode[barCodePosition++] = (curColor == LBLACK) ? 1 : 0;
+            }
-...
                 isReset = 1;
+            }
+        }
     }*/
         if(duration > TIMEOUT_DURATION && barCodePosition != 0)
+        {
             usb_puts("TIMED OUT. BARCODE READER RESET.\n");
             barCodePosition = 0;
             duration = 0;
+        }
+    }
     void updateBarCode()
     // Dan's version
     /*void updateBarCode()
+    {
     	//! Note: currently only uses one of the barcode sensors.
-...
+    	}
     	else countHi/=2;
     	if(countHi==0)countLo=0;
+    }
     }*/
     int min(int x, int y){return x>y ? y : x;}

     USE_WIRELESS = 1
     # com1 = serial port. Use lpt1 to connect to parallel port.
     AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)
     AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB1'; fi)
     else
     COLONYROOT := ../$(COLONYROOT)

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Revision 1945