Colony

#include <dragonfly_lib.h>

#include <lineFollow.h>

/* 

 *  read_line 0 = Sensor 1

 *  read_line 1 = Sensor 8

 *  read_line 2 = Sensor 4

 *  read_line 3 = Sensor 6

 *  read_line 4 = Sensor 2

 *  read_line 5 = Sensor 7

 *  read_line 6 = Sensor 3

 *  read_line 7 = Sensor 5

 */

int main(void)

{

    /* initialize components, set wireless channel */

    dragonfly_init(ALL_ON);

    encoders_init();

    lineFollow_init();

    /*while(1)

    {

        usb_puti(read_line(0));

        usb_putc('\t');

        usb_puti(read_line(1));

        usb_putc('\t');

        usb_puti(read_line(2));

        usb_putc('\t');

        usb_puti(read_line(3));

        usb_putc('\t');

        usb_puti(read_line(4));

        usb_putc('\t');

        usb_puti(read_line(5));

        usb_putc('\t');

        usb_puti(read_line(6));

        usb_putc('\t');

        usb_puti(read_line(7));

        usb_putc('\t');

        usb_putc(13);

    }*/

    while(1)

    {

        int barcode = lineFollow(190);

        if(barcode != NOBARCODE && barcode != LINELOST)

        {

            usb_puti(barcode);

            usb_puts("\n");

        }

    }

    return 0;

}

void right()

{

    motor_r_set(BACKWARD, 200);

    motor_l_set(FORWARD, 200);

    delay_ms(400);

}

void straight()

{

    motor_r_set(FORWARD, 210);

    motor_l_set(FORWARD, 210);

    delay_ms(200);

    move(0,0);

    delay_ms(2000);

}

void left()

{

    motor_l_set(BACKWARD, 200);

    motor_r_set(FORWARD, 200);

    delay_ms(400);

}