Project

General

Profile

Revision 1981

Added by Alex Zirbel about 9 years ago

Added new barcode reading to linefollowing project - first barcode is still wrong, however.

View differences:

lineFollow.c
29 29
int duration[2] = {0};
30 30
int lastColor[2] = {0};
31 31
char isReset[2] = {0};
32
int lastReadings[2][ NUM_READINGS ] = {{3}};
32
int lastReadings[2][ NUM_READINGS ] = {{0}};
33 33
int lastReadingsPtr[2] = {0};
34 34
int numLast[2][4] = { {0, 0, 0, NUM_READINGS}, {0, 0, 0, NUM_READINGS} };
35 35
int bitColor[2] = {0};
......
46 46

  
47 47
void lineFollow_init()
48 48
{
49
    int i, j;
50

  
49 51
	analog_init(0);
50 52
    encoders_init();
51 53
	lost = 0;
52 54
	intersectionFilter=0;
53 55
	disableBarCode=0;
56

  
57
    for(i=0; i<2; i++)
58
    {
59
        for(j=0; j<NUM_READINGS; j++)
60
        {
61
            lastReadings[i][j] = BAD_READING;
62
        }
63
    }
64

  
65
    //numLast = { {0, 0, 0, NUM_READINGS}, {0, 0, 0, NUM_READINGS} };
54 66
}
55 67

  
56 68

  
......
297 309
    lastReadingsPtr[i] = (lastReadingsPtr[i]+1) % NUM_READINGS;
298 310
    numLast[i][curColor]++;
299 311

  
300
    /*usb_puts("Totals: ");
312
    /*usb_puts("LP[");
313
    usb_puti(i);
314
    usb_puts("]: ");
315
    usb_puti(lastReadingsPtr[i]);
316
    usb_puts(", oldest: ");
317
    usb_puti(oldest);
318
    usb_puts(", Totals: ");
301 319

  
302
    for(int j=0; j<=2; j++)
320
    for(int j=0; j<=3; j++)
303 321
    {
304 322
        usb_puts("[");
305 323
        usb_puti(j);
......
307 325
        usb_puti(numLast[i][j]);
308 326
        usb_puts(" ");
309 327
    }
310
    usb_puts("\n");*/
328
    usb_puts("\t ");*/
329
    //usb_puts("\n");
311 330
}
312 331

  
313 332
void updateBarCode()
......
338 357
            curColor = LGREY;
339 358
        }
340 359

  
341
//        usb_puts("Read: ");
342
        //usb_puti(curReading);
343
        //usb_puts("\t");
360
        /*usb_puts("Read: ");
361
        usb_puti(curReading);
362
        usb_puts("\t ");*/
344 363

  
345 364
        addToBuckets(curColor, i);
346 365

  
......
366 385
        }
367 386
        else
368 387
        {
369
            curColor = NOBARCODE;
388
            curColor = BAD_READING;
370 389
        }
371 390

  
372
        // @work
373
        switch(curColor)
391
        /*switch(curColor)
374 392
        {
375
            //case LBLACK: usb_puts("LBLACK. "); break;
376
            //case LGREY: usb_puts("LGREY. "); break;
377
            //case LWHITE: usb_puts("LWHITE. "); break;
393
            case LBLACK: usb_puts("LBLACK. "); break;
394
            case LGREY: usb_puts("LGREY. "); break;
395
            case LWHITE: usb_puts("LWHITE. "); break;
378 396
        }
379
        //usb_puti(curReading);
380
        //usb_puts("\n");
397
        usb_puti(curReading);
398
        usb_puts("\n");*/
381 399
    
382
        return;
383

  
384
        if(curColor != NOBARCODE)
400
        if(curColor != BAD_READING)
385 401
        {
386 402
            // Now we assume our reading is significant - a bit, or a white space
387 403

  
......
391 407
            // Only read a value if we have read 0 first (isReset == 1)
392 408
            if(isReset[i] && (curColor == LBLACK || curColor == LGREY) )
393 409
            {
394

  
395
                /*if(barCodePosition[i] == 0)
396
                {
397
                    // testing encoder use
398
                    encoder_rst_dx(LEFT);
399
                    encoder_rst_dx(RIGHT);
400
                    usb_puts("Encoders reset.\n");
401
                }*/
402

  
403 410
                isReset[i] = 0;
404
                /*if(i==0)
405
                {
406
                    usb_puts("Read barcode bit: ");
407
                    usb_puti(barCodePosition[i]);
408
                    usb_puts(" = ");
409
                    usb_puti(curColor);
410
                    usb_puts(", curReading = ");
411
                    usb_puti(curReading);
412
                    usb_puts(".\n");
413
                }*/
414

  
415
                /*if(curColor == LBLACK)
416
                {
417
                    orb_set_color(RED);
418
                }
419
                else
420
                {
421
                    orb_set_color(BLUE);
422
                }*/
423

  
424 411
                duration[i] = 0;
425 412
            }
426 413
            else if(curColor == LWHITE)
427 414
            {
428
                if(!isReset[i])
415
                if(!isReset[i] && (bitColor[i] != LWHITE))
429 416
                {
430 417
                    barCode[i][barCodePosition[i]++] = 
431 418
                        (bitColor[i] == LBLACK) ? 1 : 0;

Also available in: Unified diff