int kkkk(void)
{
velocity(255,255);
forward();
while(1)
{
servo_1(0);
servo_2(0);
servo_3(0);
forward();
red_read(); //display the pulse count when red filter is selected
_delay_ms(500);
green_read(); //display the pulse count when green filter is selected
_delay_ms(500);
blue_read(); //display the pulse count when blue filter is selected
_delay_ms(500);
lcd_wr_command(0x01);
print_sensor(1,1,3); //Prints value of White Line Sensor1
print_sensor(1,5,2); //Prints Value of White Line Sensor2
print_sensor(1,9,1); //Prints Value of White Line Sensor3
print_sensor(2,1,11);
servo_1(100);
servo_2(100);
servo_3(100);
_delay_ms(7000);
}
}
int scan()//return the color no.
{
red_read();
blue_read();
green_read();
_delay_ms(100);
if(!(ADC_Conversion(11)>55 && ADC_Conversion(11)<100))
return EMPTY;
if (red<threshold && green < threshold && blue < threshold)
{
return BLACK;
}
else
{
if (red > blue)
{
if (red > green)
return RED;
else
return GREEN;
}
else if (blue > green)
return BLUE;
else return GREEN;
}
}
int main(void)
{
init_devices();
lcd_set_4bit();
lcd_init();
color_sensor_scaling();
while(1)
{
red_read(); //display the pulse count when red filter is selected
_delay_ms(500);
green_read(); //display the pulse count when green filter is selected
_delay_ms(500);
blue_read(); //display the pulse count when blue filter is selected
_delay_ms(500);
no_filter();//display the pulse count when no filter is selected
_delay_ms(500);
}
}
//SORTMAN
//MAIN SORTING FUNCTION
//R-0 L-1
int colorCalc()
{
red_read();
blue_read();
green_read();
if (!(red>threshold && green > threshold && blue > threshold))
return BLACK;
else
{
if (red > blue)
{
if (red > green)
return RED;
else
return GREEN;
}
else if (blue > green)
return BLUE;
else return GREEN;
}
}
int scan()//return the color no.
{
red_read();
blue_read();
green_read();
if (red<threshold && green < threshold && blue < threshold)
return BLACK;
else
{
if (red > blue)
{
if (red > green)
return RED;
else
return GREEN;
}
else if (blue > green)
return BLUE;
else return GREEN;
}
}
static void prvVerifyDemoFiles( void )
{
BaseType_t xFileNumber, xReadNumber;
char cFilePath[ 64 ];
const BaseType_t xMaxFiles = 5;
long lChar;
int32_t lBytesRead, lFildes, lStatus;
int iByte;
/* Read back the files that were created by prvCreateDemoFiles(). */
for( xFileNumber = 1; xFileNumber <= xMaxFiles; xFileNumber++ )
{
/* Generate the file name. */
sprintf( cFilePath, "/root%03d.txt", xFileNumber );
/* Print out the file name and the directory from which the file is
being read. */
printf( "Reading file %s\r\n", cFilePath );
/* Open the file for reading. */
lFildes = red_open( cFilePath, RED_O_RDONLY );
configASSERT( lFildes != -1 );
/* Read the file into the RAM buffer, checking the file contents are as
expected. The size of the file depends on the file number. */
for( xReadNumber = 0; xReadNumber < xFileNumber; xReadNumber++ )
{
/* Start with the RAM buffer clear. */
memset( cRAMBuffer, 0x00, fsRAM_BUFFER_SIZE );
lBytesRead = red_read( lFildes, cRAMBuffer, fsRAM_BUFFER_SIZE );
configASSERT( lBytesRead == fsRAM_BUFFER_SIZE );
/* Check the RAM buffer is filled with the expected data. Each
file contains a different repeating ascii character that indicates
the number of the file. */
for( lChar = 0; lChar < fsRAM_BUFFER_SIZE; lChar++ )
{
configASSERT( cRAMBuffer[ lChar ] == ( '0' + ( char ) xFileNumber ) );
}
}
/* Close the file. */
lStatus = red_close( lFildes );
configASSERT( lStatus == 0 );
}
/* Generate the file name. */
sprintf( cFilePath, "%s/file.txt", pcDirectory2 );
/* Print out the file name and the directory from which the file is being
read. */
printf( "Reading file %s\r\n", cFilePath );
/* This time the file is opened for reading. */
lFildes = red_open( cFilePath, RED_O_RDONLY );
configASSERT( lFildes != -1 );
/* Read the file. */
lBytesRead = red_read( lFildes, cRAMBuffer, fsRAM_BUFFER_SIZE );
configASSERT( lBytesRead == fsRAM_BUFFER_SIZE );
/* Verify the file 1 byte at a time. */
for( iByte = 0; iByte < fsRAM_BUFFER_SIZE; iByte++ )
{
configASSERT( cRAMBuffer[ iByte ] == ( char ) ( ( int ) '0' + iByte ) );
}
/* Finished so close the file. */
lStatus = red_close( lFildes );
configASSERT( lStatus == 0 );
}
int calcThresh()
{
int c[4],i;
red_read();
blue_read();
green_read();
for(i=0;i<4;i++)
c[i]=0;
for(i=0;i<4;i++)
{
//read();
if(red>green && red>blue)
if(c[0]>red)
{
if(c[3]<red)
c[3]=red;
}
else
{
if(c[3]<c[0])
c[3]=c[0];
c[0]=red;
}
else if(blue>green && red<blue)
if(c[1]>blue)
{
if(c[3]<blue)
c[3]=blue;
}
else
{
if(c[3]<c[1])
c[3]=c[1];
c[1]=blue;
}
else
if(c[2]>green)
{
if(c[3]<green)
c[3]=green;
}
else
{
if(c[3]<c[2])
c[3]=c[2];
c[2]=green;
}
}
int t=c[3];
lcd_cursor(1,1); //set the cursor on row 1, column 1
lcd_string("Threshold"); // Display "Blue Pulses" on LCD
t+=200;
lcd_print(2,1,t,5);
_delay_ms(10000);
lcd_wr_command(0x01); //Clear the LCD
lcd((char*)t);
return t;
}
