root / trunk / code / projects / linefollowing / lineFollow.h @ 1981
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#include <dragonfly_lib.h> |
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#ifndef _LINEFOLLOW_H_
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#define _LINEFOLLOW_H_
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#define LWHITE 0 |
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#define LGREY 1 |
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#define LBLACK 2 |
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#define BAD_READING 3 |
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#define CENTER 3 |
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#define LINELOST -1 |
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#define NOBARCODE -2 |
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#define INTERSECTION -25 |
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#define NOLINE -50 |
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#define FULL_LINE -51 |
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//! Number of consecutive barcode color readings for a significant reading.
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#define MAX_DURATION 20 |
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//! Number of consecutive white barcode readings before a barcode reset.
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#define TIMEOUT_DURATION 1000 |
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//! Anything lower than this value is white
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#define GREY_THRESHOLD 500 |
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//! Anything higher than this value is black
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#define BLACK_THRESHOLD 750 |
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#define NUM_READINGS 20 |
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#define LEFT_SENSOR 1 |
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#define RIGHT_SENSOR 0 |
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/**
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* @brief Initializes line following.
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*
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* Must be called before line following will work.
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* Turns the analog loop off.
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*/
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void lineFollow_init(void); |
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/** lineFollow
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* Must call lineFollow_init first
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* Must be called inside a loop
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*/
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int lineFollow(int speed); |
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/** turnLeft turnRight mergeLeft mergeRight
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* Must be called inside a loop
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* returns 0 when complete
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*/
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int turnLeft(void); |
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int turnRight(void); |
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int mergeLeft(void); |
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int mergeRight(void); |
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/**
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* @brief Updates the values stored in the array to white or black based on
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* current sensor readings.
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*
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* @param values The array of five integers to be updated.
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*/
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void updateLine(int* values); |
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/**
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* @brief Returns an index of the middle of the line based on line readings.
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*
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* Two special return values are possible:
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* NOLINE if none of the sensors holds a black value, and
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* FULL_LINE if all of the sensors see black.
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*
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* Otherwise, returns a value from -4 (farthest left) to 4 (farthest right), with
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* 0 the line being centered in the middle.
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*
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* @param colors The array of 5 readings from the line sensor. Must be either
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* LWHITE or LBLACK.
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* @return Either a special value or an index from -4 to 4.
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*
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*/
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int lineLocate(int* colors); |
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/** updatebarCode
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* Reads in and processes
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* bar code data
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*/
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void updateBarCode(void); |
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/**
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* @brief Gets the completed value read by the barcode reader, or NOBARCODE.
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*
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* Returns a bar code if available (if at the end of a barcode) and resets the
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* barcodePosition to 0. Otherwise, return NOBARCODE. *
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* @return The value of the barcode if a complete barcode, else NOBARCODE.
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*/
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int getBarCode(void); |
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//! A simple function to return the minimum of two integers.
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int min(int x, int y); |
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//! A simple function to return the maximum of two integers.
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int max(int x, int y); |
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/** @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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/** motorLeft
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* Commands the left motor
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* Cannot be used to stop
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* 0-126 are backward
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* 127-255 are forward
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*/
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void motorLeft(int speed); |
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/** motorRight
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* Commands the right motor
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* Cannot be used to stop
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* 0-126 are backward
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* 127-255 are forward
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*/
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void motorRight(int speed); |
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/** lost
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* Internal counter to detect if the line was lost
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*/
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int lost;
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int onLine(void); |
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#endif
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