int main()
{
int i;
init(0);
// connect camera to the screen
open_screen_stream();
// set all didgital outputs to +5V
for (i = 0; i < 8; i++)
{
// set all digital channels as outputs
select_IO(i,0);
write_digital(i,1);
}
while(1)
{
motorControl(line());
}
// terminate hardware
close_screen_stream();
set_motor(1,0);
set_motor(2,0);
return 0;
}
int main(){
init(1);
int x;
connect_to_server("130.195.6.196", 1024); //Opening the gate code
send_to_server("Please");
char message[24];
receive_from_server(message);
printf("%s", message);
send_to_server(message);
for (x = 0; x < 8; x++)
{
select_IO(x,0);
write_digital(x,1);
}
while(1){
take_picture();
int sum = 0;
float kp = 0.5;
int w;
int s;
int proportional_signal=0;
for(int x = 0; x < 320; x++){
w = get_pixel(x,120,3);
if(w>127){s=1;}
else{s=0;};
sum = sum + (x-160)*s;}
proportional_signal = sum * kp;
if (sum < 0){
set_motor(1, proportional_signal);
set_motor(2, -1*proportional_signal);
}
else if (sum > 0){
set_motor(1, -1*proportional_signal);
set_motor(2, proportional_signal);
}
else{
set_motor(1, proportional_signal);
set_motor(2, proportional_signal);
}
update_screen();
for (x = 0 ; x < 8; x++)
{
int adc_reading = read_analog(x);
printf("ai=%d av=%d\n",x,adc_reading);
}
}
set_motor(1,0);
set_motor(2,0);
return 0;
}
void main()
{
// Stop watchdog timer to prevent time out reset
WDTCTL = WDTPW + WDTHOLD;
Init_Port();
Lcd_initial();
unsigned int count = 0;
// unsigned int count = 0;
while(1)
{
IntToStr(count++,Chinese_0);
write_digital(Chinese_0,0,0,2);
// write_Chinese(Chinese_1,8,0,3);
write_Chinese(Chinese_2,16,0,8);
write_Chinese(Chinese_3,24,0,8);
delay(10);
}
}
int main()
{
//Open gate:
//connects to server
//connect_to_server("130.195.6.196", 1024);
//sends a message to the connected server
//send_to_server("Please");
//send_to_server("123456");
//receives message from the connected server
//char message[24];
//receive_from_server(message); //this line looks buggy, is it right?
//send_to_server(message);
int i = 0; // Re-added this because didnt seem to complie without it
int baseSpeed = 35;
float kp = 0.03; //random constant
float kd = 0;
init(0);
// connect camera to the screen
open_screen_stream();
// set all didgital outputs to +5V
for (int i = 0; i < 8; i++)
{
// set all digital channels as outputs
select_IO(i,0);
write_digital(i,1);
}
while(1)
{
take_picture(); // take camera shot
int white[320];
int value;
// we made the array 320 because that is the width of pixels
// draw some line
for(int i = 0; i < 320; i++){
set_pixel(i, 55 ,255,0,0);//redline
value = get_pixel(i,56,3); // give each pixel in the array the pixel value of its location based on ' i '.
if(value > 100){ // change 70 to actual white line value later
white[i] = 1;
}
else{
white[i] = 0;
}
//printf("%d\n",white[i]); // print array results
}
//process the data collected so far:
//but first create an array counting from -170 to 170
int e=0;
int sum = 0;
for(int i=0;i<320;i++){
sum = sum + (i - 160)*white[i];
}
int previous_error; //-We removed the initialisation of this to 0 because it would be set to 0 every time it looped.
// think as it is now, the previous error will always be zero when the wile loop goes round.
int current_error = 0;
int derivative_signal;
int error = 0;
for(int i=0;i<320;i++){ // This looks very similar to what we already have above to to the proportional error
error = (i - 160)*white[i]; // Maybe we can combine these in some way?
current_error += error;
}
//Sleep(0,100000); // This could be a problem - removed because we already have a sleep command
derivative_signal = (current_error-previous_error/0.1)*kd; //I think this si the equivalent of 'e = (sum/20)*kp;' below
previous_error = current_error;
printf("Derivative signal is: %d", derivative_signal );
e = sum*kp;
int LM = baseSpeed+e+derivative_signal;
int RM = baseSpeed+(-1*e)+(-1*derivative_signal);
printf("%d\n",LM);
set_motor(1, LM);
set_motor(2, RM);
// display picture
update_screen();
Sleep(0,100000);
for (i = 0 ; i < 8; i++)
{
int av = read_analog(i);
// printf("ai=%d av=%d\n",i,av);
}
}
// terminate hardware
close_screen_stream();
set_motor(1,0);
set_motor(2,0);
return 0;
}
