Revision 1970
Linefollowing:
added #defines around orb statements to keep them from interfering with other
orb control statements.
| lineFollow.c | ||
|---|---|---|
| 72 | 72 |
{
|
| 73 | 73 |
if(lost++ > 20) |
| 74 | 74 |
{
|
| 75 |
#ifdef ORB_LINEFOLLOW |
|
| 75 | 76 |
orb2_set_color(GREEN); |
| 77 |
#endif |
|
| 76 | 78 |
motors_off(); |
| 77 | 79 |
return LINELOST; |
| 78 | 80 |
} |
| ... | ... | |
| 81 | 83 |
{
|
| 82 | 84 |
if(intersectionFilter++ > 4) |
| 83 | 85 |
{
|
| 86 |
#ifdef ORB_LINEFOLLOW |
|
| 84 | 87 |
orb2_set_color(RED); |
| 88 |
#endif |
|
| 85 | 89 |
barCodePosition[0]=0; |
| 86 | 90 |
barCodePosition[1]=0; |
| 87 | 91 |
disableBarCode=50; |
| ... | ... | |
| 91 | 95 |
else |
| 92 | 96 |
{
|
| 93 | 97 |
position*=30; |
| 98 |
#ifdef ORB_LINEFOLLOW |
|
| 94 | 99 |
orb2_set_color(ORB_OFF); |
| 100 |
#endif |
|
| 95 | 101 |
motorLeft(min(speed+position, 255)); |
| 96 | 102 |
motorRight(min(speed-position, 255)); |
| 97 | 103 |
lost=0; |
| ... | ... | |
| 207 | 213 |
// Using this for debugging, take it out soon! |
| 208 | 214 |
motor_l_set(FORWARD,0); |
| 209 | 215 |
motor_r_set(FORWARD,0); |
| 216 |
#ifdef ORB_LINEFOLLOW |
|
| 210 | 217 |
//orb_set_color(WHITE); |
| 218 |
#endif |
|
| 211 | 219 |
delay_ms(2000); |
| 212 | 220 |
} |
| 213 | 221 |
|
| ... | ... | |
| 405 | 413 |
|
| 406 | 414 |
/*if(curColor == LBLACK) |
| 407 | 415 |
{
|
| 416 |
#ifdef ORB_LINEFOLLOW |
|
| 408 | 417 |
orb_set_color(RED); |
| 418 |
#endif |
|
| 409 | 419 |
} |
| 410 | 420 |
else |
| 411 | 421 |
{
|
| 422 |
#ifdef ORB_LINEFOLLOW |
|
| 412 | 423 |
orb_set_color(BLUE); |
| 424 |
#endif |
|
| 413 | 425 |
}*/ |
| 414 | 426 |
|
| 415 | 427 |
duration[i] = 0; |
| ... | ... | |
| 427 | 439 |
bitColor[i] = LWHITE; |
| 428 | 440 |
} |
| 429 | 441 |
isReset[i] = 1; |
| 442 |
#ifdef ORB_LINEFOLLOW |
|
| 430 | 443 |
orb_set(0, 0, 0); |
| 444 |
#endif |
|
| 431 | 445 |
} |
| 432 | 446 |
} |
| 433 | 447 |
|
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