Revision 277
more cleanup
| bom.c | ||
|---|---|---|
| 109 | 109 |
* @see analog_init |
| 110 | 110 |
**/ |
| 111 | 111 |
int get_max_bom(void) {
|
| 112 |
int max_bom_temp = 0;
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|
| 113 |
int a, i, j, h;
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|
| 114 |
h = 255;
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| 112 |
int max_bom_temp = 0;
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|
| 113 |
int a, i, j, h;
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| 114 |
h = 255; |
|
| 115 | 115 |
|
| 116 |
for (j = 0; j < 16; j++) |
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{
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i = lookup[j]; |
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for (j = 0; j < 16; j++) {
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i = lookup[j]; |
|
| 119 | 118 |
|
| 120 |
if (i&8) |
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output_high(MONK3); |
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else |
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output_low(MONK3); |
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if (i&8) {
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| 120 |
output_high(MONK3); |
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} else {
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| 122 |
output_low(MONK3); |
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} |
|
| 124 | 124 |
|
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if (i&4) |
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output_high(MONK2); |
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else |
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output_low(MONK2); |
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if (i&4) {
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output_high(MONK2); |
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} else {
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| 128 |
output_low(MONK2); |
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} |
|
| 129 | 130 |
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if (i&2) |
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output_high(MONK1); |
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else |
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output_low(MONK1); |
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if (i&2) {
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output_high(MONK1); |
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} else {
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output_low(MONK1); |
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} |
|
| 134 | 136 |
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if (i&1) |
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output_high(MONK0); |
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else |
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output_low(MONK0); |
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| 137 |
if (i&1) {
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|
| 138 |
output_high(MONK0); |
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| 139 |
} else {
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| 140 |
output_low(MONK0); |
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} |
|
| 139 | 142 |
|
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a = analog8(MONKI);
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|
| 143 |
a = analog8(MONKI); |
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| 141 | 144 |
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if (a < h) |
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{
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|
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h = a; |
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max_bom_temp = j; |
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} |
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| 147 |
|
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if (a < h) {
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h = a; |
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max_bom_temp = j; |
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| 148 | 148 |
} |
| 149 |
} |
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| 149 | 150 |
|
| 150 |
//threshold on the bom analog value.
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|
| 151 |
//defined in bom.h
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|
| 152 |
// if the analog value read is above the threshold, we cannot see a robot
|
|
| 153 |
// (remember, low means higher intensity).
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if(h < BOM_VALUE_THRESHOLD) {
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return max_bom_temp;
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| 156 |
}
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else
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| 158 |
return -1;
|
|
| 151 |
//threshold on the bom analog value.
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|
| 152 |
//defined in bom.h
|
|
| 153 |
// if the analog value read is above the threshold, we cannot see a robot
|
|
| 154 |
// (remember, low means higher intensity).
|
|
| 155 |
if (h < BOM_VALUE_THRESHOLD) {
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| 156 |
return max_bom_temp;
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} else {
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return -1;
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}
|
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| 159 | 160 |
} |
| 160 | 161 |
|
| 161 | 162 |
/** |
| ... | ... | |
| 182 | 183 |
|
| 183 | 184 |
/** @} **/ //end group |
| 184 | 185 |
|
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void output_high(int which) {
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digital_output(which, 1); |
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void output_high(int which) |
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{
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digital_output(which, 1); |
|
| 187 | 189 |
} |
| 188 | 190 |
|
| 189 |
void output_low(int which) {
|
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| 190 |
digital_output(which, 0); |
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| 191 |
void output_low(int which) |
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{
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digital_output(which, 0); |
|
| 191 | 194 |
} |
| 192 |
|
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