Revision 1945
Changed to use Alex's barcode code.
| lineFollow.c | ||
|---|---|---|
| 281 | 281 |
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| 282 | 282 |
|
| 283 | 283 |
// new version by Alex |
| 284 |
/*void updateBarCode()
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|
| 284 |
void updateBarCode() |
|
| 285 | 285 |
{
|
| 286 |
// Average the readings of the last 2 sensors |
|
| 287 |
int curReading = (read_line(6) + read_line(7)) / 2; |
|
| 288 |
int curColor = (curReading > 500) ? LBLACK : LWHITE; |
|
| 289 |
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|
| 290 | 286 |
// USING THESE GLOBAL VARIABLES |
| 291 | 287 |
// global int duration = 0; |
| 292 | 288 |
// global int lastColor = 0; |
| 293 | 289 |
// global int barCodePosition = 0; |
| 294 | 290 |
// global char isReset = 0; |
| 295 | 291 |
|
| 292 |
// Average the readings of the last 2 sensors |
|
| 293 |
if(read_line(6) - read_line(7) > 150 || read_line(6) - read_line(7) < -150) |
|
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{
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|
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return; |
|
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} |
|
| 297 |
|
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int curReading = (read_line(6) + read_line(7)) / 2; |
|
| 299 |
int curColor; |
|
| 300 |
|
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if(curReading > BLACK_THRESHOLD) |
|
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curColor = LBLACK; |
|
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else if(curReading < GREY_THRESHOLD) |
|
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curColor = LWHITE; |
|
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else |
|
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curColor = LGREY; |
|
| 307 |
|
|
| 296 | 308 |
// Just an error check |
| 297 | 309 |
if(barCodePosition > CODESIZE) |
| 298 | 310 |
{
|
| 299 | 311 |
barCodePosition = 0; |
| 300 | 312 |
} |
| 301 | 313 |
|
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// We are only interested in consecutive color values |
|
| 302 | 315 |
if(curColor == lastColor) |
| 303 | 316 |
{
|
| 304 | 317 |
duration++; |
| ... | ... | |
| 317 | 330 |
if(isReset && (curColor == LBLACK || curColor == LGREY) ) |
| 318 | 331 |
{
|
| 319 | 332 |
isReset = 0; |
| 333 |
usb_puts("Read barcode bit: ");
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|
| 334 |
usb_puti(barCodePosition); |
|
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usb_puts(" = ");
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|
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usb_puti(curColor); |
|
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usb_puts(", curReading = ");
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|
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usb_puti(curReading); |
|
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usb_puts(".\n");
|
|
| 320 | 340 |
|
| 321 | 341 |
barCode[barCodePosition++] = (curColor == LBLACK) ? 1 : 0; |
| 322 | 342 |
} |
| ... | ... | |
| 325 | 345 |
isReset = 1; |
| 326 | 346 |
} |
| 327 | 347 |
} |
| 328 |
}*/ |
|
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if(duration > TIMEOUT_DURATION && barCodePosition != 0) |
|
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{
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usb_puts("TIMED OUT. BARCODE READER RESET.\n");
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|
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barCodePosition = 0; |
|
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duration = 0; |
|
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} |
|
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} |
|
| 329 | 355 |
|
| 330 |
|
|
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void updateBarCode() |
|
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// Dan's version |
|
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/*void updateBarCode()
|
|
| 332 | 358 |
{
|
| 333 | 359 |
//! Note: currently only uses one of the barcode sensors. |
| 334 | 360 |
|
| ... | ... | |
| 366 | 392 |
} |
| 367 | 393 |
else countHi/=2; |
| 368 | 394 |
if(countHi==0)countLo=0; |
| 369 |
} |
|
| 395 |
}*/
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| 370 | 396 |
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| 371 | 397 |
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| 372 | 398 |
int min(int x, int y){return x>y ? y : x;}
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