/ - Diff - Colony - Robotics Club

     /**
      * Reads a ten bit number from the specified port.
      * analog_init must be called before using this function.
+     *
+     *
      * @param which the analog port to read from. Typically
      * a constant, one of AN0 - AN7.
-...
      **/
     unsigned int analog10(int which)
+    {
     	int adc_h;
     	int adc_l;
     	// Let any previous conversion finish
     	while (ADCSRA & _BV(ADSC));
-...
     	// Wait for the conversion to finish
     	while (ADCSRA & _BV(ADSC));
     	return ((ADCH << 2) | (ADCL >> 6));
     	adc_l = ADCL;
     	adc_h = ADCH;
     	return ((adc_h << 2) | (adc_l >> 6));
+    }
     /**
-...
     	return analog_get8(WHEEL_PORT);
+    }
     /**@}**/ //end defgroup
     /**
      * Sets the value of the external analog mux. Values are read
      * 	on AN7 physical port. (AN8 - AN15 are "virtual" ports).
+     *
      * @param which which analog mux port (0-7) which corresponds
      * 		  to AN8-AN15.
+     *
      * @bug FIX THIS IN THE NEXT BOARD REVISION:
      *		ADDR2 ADDR1 ADDR0
      *		G2.G4.G3 set mux to port 0-7 via vinary selection
      *		math would be much cleaner if it was G4.G3.G2
+     *
      * @see analog_init
      **/
     void set_adc_mux(int which)
+    {
       // FIX THIS IN NEXT REVISION
       // ADDR2 ADDR1 ADDR0
       // G2.G4.G3 set mux to port 0-7 via binary selection
       // math would be much cleaner if it was G4.G3.G2
+    {
       // mask so only proper bits are possible.
       PORTG = (PORTG & 0xE3) | ((which & 0x03) << 3) | (which & 0x04);
+    }
     /**@}**/ //end defgroup
     ISR(ADC_vect) {
     	static volatile int adc_prev_loop_running = 0;

     #define ADMUX_OPT 0x60
     /** @brief Struct to hold the value of a particular analog port */
     typedef struct {
     	uint8_t adc8;
     	uint16_t adc10;
     } adc_t;
     //extern adc_t an_val[10];
     /** @brief Initialize analog ports. **/
     /** @brief Initialize analog ports. Will start running a loop
     	 if start_conversion is ADC_START.**/
     void analog_init(int start_conversion);
     /** @brief starts the analog loop. Doesn't do anything if the loop is already running. **/
     void analog_start_loop(void);
     /** @brief Stops the analog loop. Doesn't do anything if the loop is already stopped. **/
     void analog_stop_loop(void);
     /** @brief Read an 8-bit number from an analog port. **/
     /** @brief Read an 8-bit number from an analog port. Loop must be stopped for this to work. **/
     unsigned int analog8(int which);
     /** @brief Read a 10-bit number from an analog port. **/
     /** @brief Read a 10-bit number from an analog port. Loop must be stopped for this to work. **/
     unsigned int analog10(int which);
     /** @brief Read the position of the wheel. **/
     int wheel(void);
     /** @brief Returns an 8-bit analog value from the look up table. Use this instead of analog8. **/
     unsigned int analog_get8(int which);
     /** @brief Returns an 10-bit analog value from the look up table. Use this instead of analog10. **/
     unsigned int analog_get10(int which);

     	int a, i, j, h;
         h = 255;
     	//Turn off the loop so that we can actually use analog8 correctly
     	analog_stop_loop();
     	//Iterate through through each LED
         for (j = 0; j < 16; j++)
+        {
           i = lookup[j];
-...
+          }
+        }
     	//Restart loop now that we are done using analog8
     	analog_start_loop();
     	//threshold on the bom analog value.
     	//defined in bom.h

      * @see range_init
      **/
     int range_read_distance (int range_id) {
       return linearize_distance(analog8(range_id));
       return linearize_distance(analog_get8(range_id));
+    }
     /** @} **/ //end defgroup

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