functions.h

00001 // Header file for functions.cpp
00002 
00003 // Speed adjustment to take into account different motor speeds
00004 // Changes speed of left motor
00005 #define ADJUSTMENT 0.1
00006 
00007 // Global parameters
00008 // Speed at which it moves forward
00009 // optimum value: 0.4 to 0.8
00010 extern float forwardspeed;
00011 // Global parameters
00012 // Speed at which it reverses
00013 // optimum value: 0.4 to 0.6
00014 extern float reversespeed;
00015 // Speed at which it rotates to find an object
00016 // optimum value: 0.3 to 0.5
00017 extern float searchspeed;
00018 // Range of detection
00019 // optimum value: 30 to 50
00020 extern unsigned int range;
00021 
00022 
00023 
00024 void flash_leds();
00025 void turn_led_on(int LED);
00026 void turn_leds_on();
00027 void turn_led_right();
00028 void turn_led_left();
00029 int read_line1();
00030 int read_line2();
00031 int detect_line();
00032 void move_random(float speed = forwardspeed);
00033 void reverse(float speed = reversespeed, float adj = ADJUSTMENT);
00034 void turn_left(float speed = forwardspeed);
00035 void turn_right(float speed = forwardspeed);
00036 void reverse_and_turn(float speed = reversespeed);
00037 void forwards(float speed = forwardspeed, float adj = ADJUSTMENT);
00038 void stop();
00039 int detect_object(int range_t = range, float speed = searchspeed);
00040 void move_detect(float speed, int fwd_bck, int time, int wait=0);