Revision 1961
Added new linefollowing code for barcodes.
Debug statements are still included, but this is the latest version of the code.
Bot14 at least reads all barcodes consistently. Thresholds may have to be adjusted for other robots.
| lineFollow.c | ||
|---|---|---|
| 28 | 28 |
|
| 29 | 29 |
int duration[2] = {0};
|
| 30 | 30 |
int lastColor[2] = {0};
|
| 31 |
char isReset[2] = {0};
|
|
| 31 |
char isReset[2] = {1};
|
|
| 32 | 32 |
int lastReadings[2][ NUM_READINGS ] = {{0}};
|
| 33 | 33 |
int lastReadingsPtr[2] = {0};
|
| 34 | 34 |
int numLast[2][3] = { {NUM_READINGS, 0, 0}, {NUM_READINGS, 0, 0} };
|
| 35 |
int bitColor[2] = {0};
|
|
| 35 | 36 |
|
| 36 | 37 |
int turnDistance=0; |
| 37 | 38 |
//! Counts the number of full line readings before we determine an intersection |
| ... | ... | |
| 310 | 311 |
} |
| 311 | 312 |
|
| 312 | 313 |
|
| 313 |
// new version by Alex |
|
| 314 | 314 |
void updateBarCode() |
| 315 | 315 |
{
|
| 316 | 316 |
// USING THESE GLOBAL VARIABLES |
| ... | ... | |
| 341 | 341 |
//usb_puts("LGREY");
|
| 342 | 342 |
curColor = LGREY; |
| 343 | 343 |
} |
| 344 |
//usb_puti(curReading); |
|
| 345 |
//usb_puts("\n");
|
|
| 346 | 344 |
|
| 347 | 345 |
addToBuckets(curColor, i); |
| 348 | 346 |
|
| ... | ... | |
| 352 | 350 |
barCodePosition[i] = 0; |
| 353 | 351 |
} |
| 354 | 352 |
|
| 353 |
// We now edit curColor to use the majority of the last buckets. |
|
| 355 | 354 |
for(int j = 0; j <= 2; j++) |
| 356 | 355 |
{
|
| 357 | 356 |
if(numLast[i][1] > NUM_READINGS / 2) |
| ... | ... | |
| 377 | 376 |
{
|
| 378 | 377 |
// Now we assume our reading is significant - a bit, or a white space |
| 379 | 378 |
|
| 379 |
if(bitColor[i] == LGREY || bitColor[i] == LWHITE) |
|
| 380 |
bitColor[i] = curColor; |
|
| 381 |
|
|
| 380 | 382 |
// Only read a value if we have read 0 first (isReset == 1) |
| 381 | 383 |
if(isReset[i] && (curColor == LBLACK || curColor == LGREY) ) |
| 382 | 384 |
{
|
| 383 |
if(barCodePosition[i] == 0) |
|
| 385 |
|
|
| 386 |
/*if(barCodePosition[i] == 0) |
|
| 384 | 387 |
{
|
| 385 | 388 |
// testing encoder use |
| 386 | 389 |
encoder_rst_dx(LEFT); |
| 387 | 390 |
encoder_rst_dx(RIGHT); |
| 388 | 391 |
usb_puts("Encoders reset.\n");
|
| 389 |
} |
|
| 392 |
}*/
|
|
| 390 | 393 |
|
| 391 | 394 |
isReset[i] = 0; |
| 392 |
if(i==0) |
|
| 395 |
/*if(i==0)
|
|
| 393 | 396 |
{
|
| 394 | 397 |
usb_puts("Read barcode bit: ");
|
| 395 | 398 |
usb_puti(barCodePosition[i]); |
| ... | ... | |
| 398 | 401 |
usb_puts(", curReading = ");
|
| 399 | 402 |
usb_puti(curReading); |
| 400 | 403 |
usb_puts(".\n");
|
| 401 |
} |
|
| 404 |
}*/
|
|
| 402 | 405 |
|
| 403 |
if(curColor == LBLACK) |
|
| 406 |
/*if(curColor == LBLACK)
|
|
| 404 | 407 |
{
|
| 405 | 408 |
orb_set_color(RED); |
| 406 | 409 |
} |
| 407 | 410 |
else |
| 408 | 411 |
{
|
| 409 | 412 |
orb_set_color(BLUE); |
| 410 |
} |
|
| 413 |
}*/
|
|
| 411 | 414 |
|
| 412 |
barCode[i][barCodePosition[i]++] = (curColor == LBLACK) ? 1 : 0; |
|
| 413 | 415 |
duration[i] = 0; |
| 414 | 416 |
} |
| 415 | 417 |
else if(curColor == LWHITE) |
| 416 | 418 |
{
|
| 417 | 419 |
if(!isReset[i]) |
| 418 | 420 |
{
|
| 419 |
usb_puts("Reset.\n");
|
|
| 421 |
barCode[i][barCodePosition[i]++] = |
|
| 422 |
(bitColor[i] == LBLACK) ? 1 : 0; |
|
| 423 |
usb_puts("Reset. Read bit: ");
|
|
| 424 |
usb_puti(bitColor[i]); |
|
| 425 |
usb_puts("\n");
|
|
| 426 |
|
|
| 427 |
bitColor[i] = LWHITE; |
|
| 420 | 428 |
} |
| 421 | 429 |
isReset[i] = 1; |
| 422 | 430 |
orb_set(0, 0, 0); |
| ... | ... | |
| 439 | 447 |
} |
| 440 | 448 |
} |
| 441 | 449 |
|
| 442 |
// Dan's version |
|
| 443 |
/*void updateBarCode() |
|
| 444 |
{
|
|
| 445 |
//! Note: currently only uses one of the barcode sensors. |
|
| 446 | 450 |
|
| 447 |
//maps the sensors to the analog input ports |
|
| 448 |
int ports[2] = {8,1};
|
|
| 449 |
int current[2]; |
|
| 450 |
// current[0] = analog_get10(ports[0]); |
|
| 451 |
//current[1] = analog_get10(ports[1]); |
|
| 452 |
current[1] = read_line(6); |
|
| 453 |
|
|
| 454 |
if(current[1] > 150) |
|
| 455 |
{
|
|
| 456 |
if(countHi++ == 0) |
|
| 457 |
{
|
|
| 458 |
avg = 500; |
|
| 459 |
maxAvg = 500; |
|
| 460 |
} |
|
| 461 |
else |
|
| 462 |
{
|
|
| 463 |
avg = 3*avg + current[1]; |
|
| 464 |
avg/=4; |
|
| 465 |
maxAvg = max(maxAvg, avg); |
|
| 466 |
} |
|
| 467 |
} |
|
| 468 |
else if(countHi > 5) |
|
| 469 |
{
|
|
| 470 |
if(countLo++ > 15) |
|
| 471 |
{
|
|
| 472 |
countHi = countLo = 0; |
|
| 473 |
if(maxAvg > 825) |
|
| 474 |
orb1_set_color(RED); |
|
| 475 |
else orb1_set_color(BLUE); |
|
| 476 |
barCode[barCodePosition++] = maxAvg > 825 ? 1:0; |
|
| 477 |
} |
|
| 478 |
} |
|
| 479 |
else countHi/=2; |
|
| 480 |
if(countHi==0)countLo=0; |
|
| 481 |
}*/ |
|
| 482 |
|
|
| 483 |
|
|
| 484 | 451 |
int min(int x, int y){return x>y ? y : x;}
|
| 485 | 452 |
int max(int x, int y){return x<y ? y : x;}
|
| 486 | 453 |
|
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