Harsha vardan
/
Line_Follower_BonW
Line Follower Robot for a black line on a white background.
main.cpp@0:18385b6527e2, 2014-01-22 (annotated)
- Committer:
- Harshavardan61
- Date:
- Wed Jan 22 21:14:10 2014 +0000
- Revision:
- 0:18385b6527e2
Line follower for a black line on a white background
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Harshavardan61 | 0:18385b6527e2 | 1 | /* |
Harshavardan61 | 0:18385b6527e2 | 2 | ###################################################### |
Harshavardan61 | 0:18385b6527e2 | 3 | ## Program Created by Harshavardan T V & Arun M S ## |
Harshavardan61 | 0:18385b6527e2 | 4 | ###################################################### |
Harshavardan61 | 0:18385b6527e2 | 5 | ---- harshavardan61@gmail.com & msarun003@gmail.com---- |
Harshavardan61 | 0:18385b6527e2 | 6 | */ |
Harshavardan61 | 0:18385b6527e2 | 7 | |
Harshavardan61 | 0:18385b6527e2 | 8 | #include "mbed.h" |
Harshavardan61 | 0:18385b6527e2 | 9 | |
Harshavardan61 | 0:18385b6527e2 | 10 | DigitalOut led1(LED1); |
Harshavardan61 | 0:18385b6527e2 | 11 | DigitalOut led2(LED2); |
Harshavardan61 | 0:18385b6527e2 | 12 | DigitalOut led3(LED3); |
Harshavardan61 | 0:18385b6527e2 | 13 | DigitalOut led4(LED4); |
Harshavardan61 | 0:18385b6527e2 | 14 | AnalogIn left(p16); //IR Enable. |
Harshavardan61 | 0:18385b6527e2 | 15 | AnalogIn right(p17); //IR Enable. |
Harshavardan61 | 0:18385b6527e2 | 16 | DigitalOut left1(p21); |
Harshavardan61 | 0:18385b6527e2 | 17 | DigitalOut left2(p22); |
Harshavardan61 | 0:18385b6527e2 | 18 | DigitalOut right1(p23); |
Harshavardan61 | 0:18385b6527e2 | 19 | DigitalOut right2(p24); |
Harshavardan61 | 0:18385b6527e2 | 20 | |
Harshavardan61 | 0:18385b6527e2 | 21 | |
Harshavardan61 | 0:18385b6527e2 | 22 | int main() { |
Harshavardan61 | 0:18385b6527e2 | 23 | float l,r; |
Harshavardan61 | 0:18385b6527e2 | 24 | while (1) |
Harshavardan61 | 0:18385b6527e2 | 25 | { |
Harshavardan61 | 0:18385b6527e2 | 26 | l=left; //Assign Variable "p" to piezo. |
Harshavardan61 | 0:18385b6527e2 | 27 | r=right; //Assign Variable "i" to ir. |
Harshavardan61 | 0:18385b6527e2 | 28 | if(l<0.8) |
Harshavardan61 | 0:18385b6527e2 | 29 | { |
Harshavardan61 | 0:18385b6527e2 | 30 | if(r>0.8) |
Harshavardan61 | 0:18385b6527e2 | 31 | { |
Harshavardan61 | 0:18385b6527e2 | 32 | led1=1; |
Harshavardan61 | 0:18385b6527e2 | 33 | led2=1; |
Harshavardan61 | 0:18385b6527e2 | 34 | led3=0; |
Harshavardan61 | 0:18385b6527e2 | 35 | led4=0; |
Harshavardan61 | 0:18385b6527e2 | 36 | left1=1; |
Harshavardan61 | 0:18385b6527e2 | 37 | left2=0; |
Harshavardan61 | 0:18385b6527e2 | 38 | right1=0; |
Harshavardan61 | 0:18385b6527e2 | 39 | right2=1; |
Harshavardan61 | 0:18385b6527e2 | 40 | |
Harshavardan61 | 0:18385b6527e2 | 41 | } |
Harshavardan61 | 0:18385b6527e2 | 42 | else |
Harshavardan61 | 0:18385b6527e2 | 43 | { |
Harshavardan61 | 0:18385b6527e2 | 44 | led1=1; |
Harshavardan61 | 0:18385b6527e2 | 45 | led4=1; |
Harshavardan61 | 0:18385b6527e2 | 46 | led2=0; |
Harshavardan61 | 0:18385b6527e2 | 47 | led3=0; |
Harshavardan61 | 0:18385b6527e2 | 48 | left1=1; |
Harshavardan61 | 0:18385b6527e2 | 49 | left2=0; |
Harshavardan61 | 0:18385b6527e2 | 50 | right1=1; |
Harshavardan61 | 0:18385b6527e2 | 51 | right2=0; |
Harshavardan61 | 0:18385b6527e2 | 52 | } |
Harshavardan61 | 0:18385b6527e2 | 53 | } |
Harshavardan61 | 0:18385b6527e2 | 54 | else if(l>0.8) |
Harshavardan61 | 0:18385b6527e2 | 55 | { |
Harshavardan61 | 0:18385b6527e2 | 56 | if(r<0.8) |
Harshavardan61 | 0:18385b6527e2 | 57 | { |
Harshavardan61 | 0:18385b6527e2 | 58 | led4=1; |
Harshavardan61 | 0:18385b6527e2 | 59 | led3=1; |
Harshavardan61 | 0:18385b6527e2 | 60 | led1=0; |
Harshavardan61 | 0:18385b6527e2 | 61 | led2=0; |
Harshavardan61 | 0:18385b6527e2 | 62 | left1=0; |
Harshavardan61 | 0:18385b6527e2 | 63 | left2=1; |
Harshavardan61 | 0:18385b6527e2 | 64 | right1=1; |
Harshavardan61 | 0:18385b6527e2 | 65 | right2=0; |
Harshavardan61 | 0:18385b6527e2 | 66 | } |
Harshavardan61 | 0:18385b6527e2 | 67 | else |
Harshavardan61 | 0:18385b6527e2 | 68 | { |
Harshavardan61 | 0:18385b6527e2 | 69 | led1=1; |
Harshavardan61 | 0:18385b6527e2 | 70 | led4=1; |
Harshavardan61 | 0:18385b6527e2 | 71 | led2=0; |
Harshavardan61 | 0:18385b6527e2 | 72 | led3=0; |
Harshavardan61 | 0:18385b6527e2 | 73 | left1=1; |
Harshavardan61 | 0:18385b6527e2 | 74 | left2=0; |
Harshavardan61 | 0:18385b6527e2 | 75 | right1=1; |
Harshavardan61 | 0:18385b6527e2 | 76 | right2=0; |
Harshavardan61 | 0:18385b6527e2 | 77 | } |
Harshavardan61 | 0:18385b6527e2 | 78 | } |
Harshavardan61 | 0:18385b6527e2 | 79 | else |
Harshavardan61 | 0:18385b6527e2 | 80 | { |
Harshavardan61 | 0:18385b6527e2 | 81 | led1=1; |
Harshavardan61 | 0:18385b6527e2 | 82 | led4=1; |
Harshavardan61 | 0:18385b6527e2 | 83 | led2=0; |
Harshavardan61 | 0:18385b6527e2 | 84 | led3=0; |
Harshavardan61 | 0:18385b6527e2 | 85 | left1=1; |
Harshavardan61 | 0:18385b6527e2 | 86 | left2=0; |
Harshavardan61 | 0:18385b6527e2 | 87 | right1=1; |
Harshavardan61 | 0:18385b6527e2 | 88 | right2=0; |
Harshavardan61 | 0:18385b6527e2 | 89 | } |
Harshavardan61 | 0:18385b6527e2 | 90 | } |
Harshavardan61 | 0:18385b6527e2 | 91 | } |