Revision 0bd4bb32
Added motor code for forklift, and fixed analog and i2c code after testing.
| forklift/code/analog.c | ||
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| 1 | 1 |
#include <avr/io.h> |
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#include "analog.h" |
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#include "analog.h" |
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int line_threshold = 150; |
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int line_read(int which); |
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void line_update(int* values); |
| ... | ... | |
| 60 | 62 |
{
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int i; |
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for(i = 0; i<5; i++) |
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values[i] = line_read(i) < 150 ? LWHITE : LBLACK;
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values[i] = line_read(i) < line_threshold ? LWHITE : LBLACK;
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} |
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int line_locate(int* values) |
| ... | ... | |
| 87 | 89 |
line_update(values); |
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return line_locate(values); |
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} |
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void line_set_threshold_high(uint8_t threshold) |
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{
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line_threshold = ((int)(threshold & 3) << 8) | (line_threshold & 0xFF); |
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} |
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void line_set_threshold_low(uint8_t threshold) |
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{
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line_threshold = (line_threshold & 0x300) | (uint16_t) threshold; |
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} |
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