Colony

/* 

 * This test is for the old line following sensors formerly installed on

 * bickles, which did not use a mux and have a different method of reading

 * compared to the current line following sensors (the ones with the mux and

 * the row of 8 IR emitters/recievers on the bottom of the robot).

 *

 * For a test that tests the new IR sensors, see test_linefollow.c

 */

#include <dragonfly_lib.h>

#define TEST_PORT                3

#define TEST_ALL                1

#define TEST_INDIV                0

int testir(void)

{

        analog_init(0);

        int port;

        int ports[] = {13, 12, 3, 2, 9, 8, 1};

//        analog_init(ADC_START);

//        usb_puti(analog_loop_status());

        if(TEST_ALL)

        {

                if(TEST_INDIV)

                {

                        while(1)

                        {        

                                for(port = 0; port <5; port++)

                                {

                                        usb_puti(analog_get10(ports[port]));

                                        usb_putc('\t');

                                }

                                for(port = 5; port <7; port++)

                                {

                                        usb_puti(analog_get10(ports[port]));

                                        usb_putc('\t');

                                }

                                usb_putc('\n');

                                delay_ms(50);

                        }

                }

                else

                {        

                        while(1)

                        {        

                                for(port = 0; port <= 6; port++)

                                {

                                        usb_puti(analog_get10(ports[port]));

                                        usb_putc('\t');

                                }

                                usb_putc('\n');

                                delay_ms(50);

                        }

                }

        }

        else

        {

                while(1)

                {        

                        usb_puti(analog_get10(ports[TEST_PORT]));

                        usb_putc('\n');

                        delay_ms(50);

                }

        }

        return 0;

}

/*Mapping of IR sensor to port number:

Line following (L to R on robot):

1: 5

2: 4

3: 3

4: 2

5: 9

Bar-code reading:

L: 8

R: 1

*/