Anthony Lamme
/
TFC-TEST_TXSTATE_TEAM6v2
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TFC-TEST_TXSTATE_TEAM6
by 
Cody Blakeney
Revision 5:0c142433cc51, committed 2015-04-06
- Comitter:
- anthonylamme
- Date:
- Mon Apr 06 23:22:53 2015 +0000
- Parent:
- 4:97014a4611c2
- Commit message:
- fixed errors
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 97014a4611c2 -r 0c142433cc51 main.cpp
--- a/main.cpp Mon Apr 06 21:36:56 2015 +0000
+++ b/main.cpp Mon Apr 06 23:22:53 2015 +0000
@@ -45,8 +45,8 @@
int turnDir( int &, int &, int, int);
int startstop(int);
-//void turnLeft(int &, int &, int, int); needs to be finished
-//void turnRight(int &, int &, int, int); needs to be finished
+void turnLeft(int &, int &, int, int); //needs to be finished
+void turnRight(int &, int &, int, int); //needs to be finished
int main()
{
@@ -111,41 +111,6 @@
break;
case 1: // moves servo and prints pot value.
-
-
- if(TFC_Ticker[0]>=20)
- {
- TFC_Ticker[0] = 0; //reset the Ticker
- //Every 20 mSeconds, update the Servos
- TFC_SetServo(0,TFC_ReadPot(0));
- TFC_SetServo(1,TFC_ReadPot(1));
-
-
- }
-
- if(TFC_PUSH_BUTTON_1_PRESSED)
- {
-
- PC.printf("%f", TFC_ReadPot(0));
- }
-
-
- //Let's put a pattern on the LEDs
- if(TFC_Ticker[1] >= 125)
- {
- TFC_Ticker[1] = 0;
- t++;
- if(t>4)
- {
- t=0;
- }
- TFC_SetBatteryLED_Level(t);
- }
-
- // TFC_SetMotorPWM(0,0); //Make sure motors are off
- // TFC_HBRIDGE_DISABLE;
-
-
break;
case 2 ://case 2 will run program after case 0
@@ -154,20 +119,20 @@
{
while(true)
{
- dark=FindBlack();//determines if its dark
- while(d==distance(a,b,black))//if straight line it just goes forward
+ //dark=FindBlack();//determines if its dark
+ while((d < (distance(a,b,black)*1.02))&&(d > (distance(a,b,black)*.98)))//if straight line it just goes forward
{
TFC_SetMotorPWM(.6,.6);
}
if(turnDir(a,b,black,d)==1)//straight line is broken determine direction if 1 go right
{
- turnRight();
+ turnRight(a,b,black,d);
}
if(turnDir(a,b,black,d)==0)//straight line is broken determine direction if 0 go right
{
- turnLeft();
+ turnLeft(a,b,black,d);
}
- if(FindBlack()==2000)//if white line then find black will return starting value because no black line
+ /*if(FindBlack()>black)//if white line then find black will return starting value because no black line // change to findblack()>black
{
TFC_SetMotorPWM(.6,.6);//go straight for given time
wait(0.146);
@@ -185,65 +150,18 @@
wait(0.143);
continue;
}
- if(startstop==1)// if start line is seen stop
+ if(startstop()==1)// if start line is seen stop
{
TFC_SetMotorPWM(0,0);
TFC_HBRIDGE_DISABLE;
break;
}
+ */
}
}
break;
case 3 :
-
-
- //Demo Mode 3 will be in Freescale Garage Mode. It will beam data from the Camera to the
- //Labview Application
-
-
- if(TFC_Ticker[0]>50 && TFC_LineScanImageReady>0)
- {
- TFC_Ticker[0] = 0;
- TFC_LineScanImageReady=0;
- // PC.printf("\r\n");
- // PC.printf("L:");
-
- if(t==0)
- t=4;
- else
- t--;
-
- TFC_SetBatteryLED_Level(t);
-
- // camera 1
-
- if(TFC_PUSH_BUTTON_0_PRESSED)
- {
- //Demo Mode 3 will be in Freescale Garage Mode. It will beam data from the Camera to the
- //Labview Application
-
-
- // camera 1
- for(i=0;i<128;i++)
- {
- if(TFC_LineScanImage0[i]<=black)
- {
- // zero is black
-
- data[i]=0;
- }
- else
- {
- // one is white
- data[i]=1;
- }
- PC.printf("%d", data[i]);
- }
- PC.printf("\r");
- }
- }
-
break;
}
}
@@ -350,9 +268,8 @@
}
}
- }
-
-/*void turnLeft(int &a, int &b,int black,int d)
+ }
+ void turnLeft(int &a, int &b,int black,int d)
{
// waits for the amount of time it takes to reach the turn
wait(.146);
@@ -362,44 +279,42 @@
// while the distance between the lines
// indicate the car is in a turn
- while(d > distance(a, b, black) )
- {
- setservo(-.214652);
- }
+ while(((d < (distance(a, b, black)*1.27))&&(d!=distance(a,b,black)))||(b==128))
+ {
+ TFC_SetServo(0,-.214652);
+ }
+ // returns the wheels back to straight
- // returns the wheels back to straight
-
- setservo(0,0.0);
- }
-
- */
-/* void turnRight(int &a, int &b,int black,int d)
+ TFC_SetServo(0,0.0);
+ }
+void turnRight(int &a, int &b,int black,int d)
{
// waits for the amount of time it takes to reach the turn
wait(.146);
- while(d > distance(a, b, black) )
+ while(((d < (distance(a, b, black)*1.27))&&(d!=distance(a,b,black)))||(b==128))
{
- setservo(.2688640);
- }*/
+ TFC_SetServo(0,.2688640);
+ }
+ TFC_SetServo(0,0.0);
+ }
int startstop(int black)
{
+ int data[128];
int counter=0;
- for(i=0;i<128;i++)
+ for(int i=0;i<128;i++)
{
if(TFC_LineScanImage0[i]<=black)
- {
- // zero is black
+ { // zero is black
data[i]=0;
counter++;
}
else
- {
- // one is white
+ { // one is white
data[i]=1;
}
}
- if counter>6
+ if (counter>6)
{
return 1;
}
@@ -409,4 +324,4 @@
}
}
-
+
\ No newline at end of file