root / trunk / code / projects / linefollowing / lineFollow.h @ 1954
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1 | 1954 | whchang | <<<<<<< .mine |
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2 | #include <dragonfly_lib.h> |
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3 | |||
4 | #ifndef _LINEFOLLOW_H_
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5 | #define _LINEFOLLOW_H_
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6 | |||
7 | #define LWHITE 0 |
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8 | #define LGREY 1 |
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9 | #define LBLACK 2 |
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10 | #define CENTER 3 |
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11 | #define LINELOST -1 |
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12 | |||
13 | #define NOBARCODE -2 |
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14 | #define INTERSECTION -25 |
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15 | |||
16 | #define NOLINE -50 |
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17 | #define FULL_LINE -51 |
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18 | |||
19 | //! Number of consecutive barcode color readings for a significant reading.
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20 | #define MAX_DURATION 20 |
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21 | //! Number of consecutive white barcode readings before a barcode reset.
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22 | #define TIMEOUT_DURATION 1000 |
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23 | //! Anything lower than this value is white
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24 | #define GREY_THRESHOLD 100 |
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25 | //! Anything higher than this value is black
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26 | #define BLACK_THRESHOLD 400 |
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27 | |||
28 | #define LEFT_SENSOR 1 |
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29 | #define RIGHT_SENSOR 0 |
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30 | |||
31 | /**
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32 | * @brief Initializes line following.
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33 | *
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34 | * Must be called before line following will work.
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35 | * Turns the analog loop off.
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36 | */
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37 | void lineFollow_init(void); |
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38 | |||
39 | /** lineFollow
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40 | * Must call lineFollow_init first
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41 | * Must be called inside a loop
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42 | */
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43 | int lineFollow(int speed); |
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44 | |||
45 | /** turnLeft turnRight mergeLeft mergeRight
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46 | * Must be called inside a loop
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47 | * returns 0 when complete
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48 | */
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49 | int turnLeft(void); |
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50 | int turnRight(void); |
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51 | int mergeLeft(void); |
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52 | int mergeRight(void); |
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53 | |||
54 | /**
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55 | * @brief Updates the values stored in the array to white or black based on
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56 | * current sensor readings.
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57 | *
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58 | * @param values The array of five integers to be updated.
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59 | */
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60 | void updateLine(int* values); |
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61 | |||
62 | /**
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63 | * @brief Returns an index of the middle of the line based on line readings.
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64 | *
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65 | * Two special return values are possible:
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66 | * NOLINE if none of the sensors holds a black value, and
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67 | * FULL_LINE if all of the sensors see black.
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68 | *
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69 | * Otherwise, returns a value from -4 (farthest left) to 4 (farthest right), with
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70 | * 0 the line being centered in the middle.
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71 | *
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72 | * @param colors The array of 5 readings from the line sensor. Must be either
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73 | * LWHITE or LBLACK.
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74 | * @return Either a special value or an index from -4 to 4.
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75 | *
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76 | */
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77 | int lineLocate(int* colors); |
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78 | |||
79 | /** updatebarCode
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80 | * Reads in and processes
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81 | * bar code data
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82 | */
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83 | void updateBarCode(void); |
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84 | |||
85 | /**
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86 | * @brief Gets the completed value read by the barcode reader, or NOBARCODE.
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87 | *
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88 | * Returns a bar code if available (if at the end of a barcode) and resets the
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89 | * barcodePosition to 0. Otherwise, return NOBARCODE. *
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90 | * @return The value of the barcode if a complete barcode, else NOBARCODE.
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91 | */
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92 | int getBarCode(void); |
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93 | |||
94 | |||
95 | //! A simple function to return the minimum of two integers.
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96 | int min(int x, int y); |
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97 | //! A simple function to return the maximum of two integers.
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98 | int max(int x, int y); |
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99 | |||
100 | /** @todo Alex: I hate these functions, but I'm keeping them so code will still work. But we should delete them sometime. */
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101 | |||
102 | /** motorLeft
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103 | * Commands the left motor
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104 | * Cannot be used to stop
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105 | * 0-126 are backward
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106 | * 127-255 are forward
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107 | */
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108 | void motorLeft(int speed); |
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109 | |||
110 | /** motorRight
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111 | * Commands the right motor
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112 | * Cannot be used to stop
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113 | * 0-126 are backward
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114 | * 127-255 are forward
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115 | */
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116 | void motorRight(int speed); |
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117 | |||
118 | /** lost
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119 | * Internal counter to detect if the line was lost
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120 | */
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121 | int lost;
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122 | |||
123 | int onLine(void); |
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124 | |||
125 | #endif
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126 | ======= |
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127 | #include <dragonfly_lib.h> |
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128 | |||
129 | #ifndef _LINEFOLLOW_H_
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130 | #define _LINEFOLLOW_H_
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131 | |||
132 | #define LWHITE 0 |
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133 | #define LGREY 1 |
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134 | #define LBLACK 2 |
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135 | #define CENTER 3 |
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136 | #define LINELOST -1 |
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137 | |||
138 | #define NOBARCODE -2 |
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139 | #define INTERSECTION -25 |
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140 | |||
141 | #define NOLINE -50 |
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142 | #define FULL_LINE -51 |
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143 | |||
144 | //! Number of consecutive barcode color readings for a significant reading.
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145 | #define MAX_DURATION 20 |
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146 | //! Number of consecutive white barcode readings before a barcode reset.
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147 | #define TIMEOUT_DURATION 1000 |
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148 | //! Anything lower than this value is white
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149 | #define GREY_THRESHOLD 100 |
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150 | //! Anything higher than this value is black
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151 | #define BLACK_THRESHOLD 400 |
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152 | |||
153 | #define LEFT_SENSOR 1 |
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154 | #define RIGHT_SENSOR 0 |
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155 | |||
156 | /**
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157 | * @brief Initializes line following.
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158 | *
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159 | * Must be called before line following will work.
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160 | * Turns the analog loop off.
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161 | */
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162 | void lineFollow_init(void); |
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163 | |||
164 | /** lineFollow
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165 | * Must call lineFollow_init first
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166 | * Must be called inside a loop
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167 | */
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168 | int lineFollow(int speed); |
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169 | |||
170 | /** turnLeft turnRight mergeLeft mergeRight
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171 | * Must be called inside a loop
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172 | * returns 0 when complete
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173 | */
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174 | int turnLeft(void); |
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175 | int turnRight(void); |
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176 | int mergeLeft(void); |
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177 | int mergeRight(void); |
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178 | |||
179 | /**
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180 | * @brief Updates the values stored in the array to white or black based on
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181 | * current sensor readings.
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182 | *
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183 | * @param values The array of five integers to be updated.
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184 | */
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185 | void updateLine(int* values); |
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186 | |||
187 | /**
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188 | * @brief Returns an index of the middle of the line based on line readings.
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189 | *
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190 | * Two special return values are possible:
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191 | * NOLINE if none of the sensors holds a black value, and
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192 | * FULL_LINE if all of the sensors see black.
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193 | *
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194 | * Otherwise, returns a value from -4 (farthest left) to 4 (farthest right), with
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195 | * 0 the line being centered in the middle.
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196 | *
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197 | * @param colors The array of 5 readings from the line sensor. Must be either
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198 | * LWHITE or LBLACK.
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199 | * @return Either a special value or an index from -4 to 4.
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200 | *
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201 | */
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202 | int lineLocate(int* colors); |
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203 | |||
204 | /** updatebarCode
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205 | * Reads in and processes
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206 | * bar code data
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207 | */
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208 | void updateBarCode(void); |
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209 | |||
210 | /**
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211 | * @brief Gets the completed value read by the barcode reader, or NOBARCODE.
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212 | *
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213 | * Returns a bar code if available (if at the end of a barcode) and resets the
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214 | * barcodePosition to 0. Otherwise, return NOBARCODE. *
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215 | * @return The value of the barcode if a complete barcode, else NOBARCODE.
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216 | */
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217 | int getBarCode(void); |
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218 | |||
219 | |||
220 | //! A simple function to return the minimum of two integers.
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221 | int min(int x, int y); |
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222 | //! A simple function to return the maximum of two integers.
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223 | int max(int x, int y); |
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224 | |||
225 | /** @todo Alex: I hate these functions, but I'm keeping them so code will still work. But we should delete them sometime. */
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226 | |||
227 | /** motorLeft
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228 | * Commands the left motor
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229 | * Cannot be used to stop
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230 | * 0-126 are backward
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231 | * 127-255 are forward
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232 | */
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233 | void motorLeft(int speed); |
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234 | |||
235 | /** motorRight
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236 | * Commands the right motor
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237 | * Cannot be used to stop
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238 | * 0-126 are backward
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239 | * 127-255 are forward
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240 | */
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241 | void motorRight(int speed); |
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242 | |||
243 | /** lost
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244 | * Internal counter to detect if the line was lost
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245 | */
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246 | int lost;
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247 | |||
248 | int onLine(void); |
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249 | |||
250 | #endif
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251 | >>>>>>> .r1952 |