int checkIfBalanced(){
int xValue, yValue, zValue;
float angle;
//Read the X axis
adcInit(ACCELEROMETER_X);
xValue = adcRead();
//Read the Y axis
adcInit(ACCELEROMETER_Y);
yValue = adcRead();
//Read the Z axis
adcInit(ACCELEROMETER_Z);
zValue = adcRead();
angle = computePitch(xValue, yValue, zValue);
//check what the angle is and if we need to go forward or backward
if(angle > FORWARD_THRESHOLD){
motorForward();
return FALSE;
}else if(angle < REVERSE_THRESHOLD){
motorReverse();
return FALSE;
}else{
motorStop();
return TRUE;
}
}
ImageData &setDefaultSizes()
{
pitch = computePitch(format, size);
pixelSize = format.size();
return *this;
}
