Revision 1985
Fixed barcodes first read problem.
Barcodes used to always read gray for the first bit, but this problem is now fixed by better initializiation in lineFollow init.
| trunk/code/projects/linefollowing/lineFollow.h | ||
|---|---|---|
| 54 | 54 |
int mergeLeft(void); |
| 55 | 55 |
int mergeRight(void); |
| 56 | 56 |
|
| 57 |
void addToBuckets(int curColor, int i); |
|
| 58 |
void printBuckets(); |
|
| 59 |
|
|
| 57 | 60 |
/** |
| 58 | 61 |
* @brief Updates the values stored in the array to white or black based on |
| 59 | 62 |
* current sensor readings. |
| trunk/code/projects/linefollowing/lineFollow.c | ||
|---|---|---|
| 35 | 35 |
|
| 36 | 36 |
int duration[2] = {0};
|
| 37 | 37 |
int lastColor[2] = {0};
|
| 38 |
char isReset[2] = {0};
|
|
| 38 |
char isReset[2] = {1};
|
|
| 39 | 39 |
int lastReadings[2][ NUM_READINGS ] = {{0}};
|
| 40 | 40 |
int lastReadingsPtr[2] = {0};
|
| 41 | 41 |
int numLast[2][4] = { {0, 0, 0, NUM_READINGS}, {0, 0, 0, NUM_READINGS} };
|
| ... | ... | |
| 67 | 67 |
{
|
| 68 | 68 |
lastReadings[i][j] = BAD_READING; |
| 69 | 69 |
} |
| 70 |
isReset[i] = 1; |
|
| 70 | 71 |
} |
| 71 | 72 |
|
| 72 | 73 |
//numLast = { {0, 0, 0, NUM_READINGS}, {0, 0, 0, NUM_READINGS} };
|
| ... | ... | |
| 308 | 309 |
return (wsum/count)-4; // Subtract 4 to center the index around the center. |
| 309 | 310 |
} |
| 310 | 311 |
|
| 312 |
void printBuckets(int i) |
|
| 313 |
{
|
|
| 314 |
int j; |
|
| 315 |
|
|
| 316 |
usb_puts("LP[");
|
|
| 317 |
usb_puti(i); |
|
| 318 |
usb_puts("]: ");
|
|
| 319 |
usb_puti(lastReadingsPtr[i]); |
|
| 320 |
usb_puts(", Totals: ");
|
|
| 321 |
|
|
| 322 |
for(int j=0; j<=3; j++) |
|
| 323 |
{
|
|
| 324 |
usb_puts("[");
|
|
| 325 |
usb_puti(j); |
|
| 326 |
usb_puts("]: ");
|
|
| 327 |
usb_puti(numLast[i][j]); |
|
| 328 |
usb_puts(" ");
|
|
| 329 |
} |
|
| 330 |
usb_puts("\t ");
|
|
| 331 |
usb_puts("\n");
|
|
| 332 |
} |
|
| 333 |
|
|
| 311 | 334 |
void addToBuckets(int curColor, int i) |
| 312 | 335 |
{
|
| 313 | 336 |
int oldest = lastReadings[i][lastReadingsPtr[i]]; |
| ... | ... | |
| 318 | 341 |
|
| 319 | 342 |
if(DBG_LINEFOLLOW == 1) |
| 320 | 343 |
{
|
| 321 |
usb_puts("LP[");
|
|
| 322 |
usb_puti(i); |
|
| 323 |
usb_puts("]: ");
|
|
| 324 |
usb_puti(lastReadingsPtr[i]); |
|
| 325 |
usb_puts(", oldest: ");
|
|
| 326 |
usb_puti(oldest); |
|
| 327 |
usb_puts(", Totals: ");
|
|
| 328 |
|
|
| 329 |
for(int j=0; j<=3; j++) |
|
| 330 |
{
|
|
| 331 |
usb_puts("[");
|
|
| 332 |
usb_puti(j); |
|
| 333 |
usb_puts("]: ");
|
|
| 334 |
usb_puti(numLast[i][j]); |
|
| 335 |
usb_puts(" ");
|
|
| 336 |
} |
|
| 337 |
usb_puts("\t ");
|
|
| 338 |
usb_puts("\n");
|
|
| 344 |
printBuckets(i); |
|
| 339 | 345 |
} |
| 340 | 346 |
} |
| 341 | 347 |
|
| ... | ... | |
| 429 | 435 |
(bitColor[i] == LBLACK) ? 1 : 0; |
| 430 | 436 |
usb_puts("Reset. Read bit: ");
|
| 431 | 437 |
usb_puts(((bitColor[i] == LBLACK) ? "BLACK" : "GREY")); |
| 438 |
usb_puts("\t");
|
|
| 439 |
usb_puts(((curColor==LWHITE) ? "LWHITE" : "NOTWHITE")); |
|
| 432 | 440 |
usb_puts("\n");
|
| 433 | 441 |
|
| 434 | 442 |
bitColor[i] = LWHITE; |
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