void interruptions_left(void) //for interruptions appearing on the left to the track
{
straight_fwd(); // Go forward
Delay10KTCYx(130);
check_sensors();
if (SeeLine.b.Left&&!SeeLine.b.CntLeft&&SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //10100
{
while(SeeLine.b.Left&&!SeeLine.b.CntLeft&&SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000 sees nothing
{ //spin right
spin_right();
check_sensors();
}
}
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&SeeLine.b.Center&&!SeeLine.b.CntRight&&SeeLine.b.Right) //00101
{
straight_fwd(); // Go forward
Delay10KTCYx(130);
check_sensors();
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00000
{
spin_right();
check_sensors();
}
}
}
*
}
void final_ends(void) //stops robot when it comes to black platform
{
straight_fwd(); //go straight
Delay10KTCYx(150); //0.1875s
check_sensors(); //constantly keeps checking to see LED combinations
while(SeeLine.b.Left&&SeeLine.b.CntLeft&&SeeLine.b.Center&&SeeLine.b.CntRight&&SeeLine.b.Right) //11111 //all LEDs ON
{
motors_brake_all(); //stops all motor
check_sensors(); //constantly keeps checking to see LED combinations
}
}
void Check_Gaps(void) //checks gaps and makes a 180 degree turn after going about 8cm (needs to be exact.)
{
int sensor_check = 0; //variable sensor check
for(sensor_check; sensor_check < 10; sensor_check++) //executes 20 times, looking for gaps in each count.
{
check_sensors(); //constantly keeps checking for LED combinations
if ( (SeeLine.B ) == 0b00000u) //all LEDs OFF
{
straight_fwd(); //go straight
Delay10KTCYx(20); //0.025s OR 25ms.
if( sensor_check == 9) //last condition
{
turn_180 ();
straight_fwd();
}
}
else
{
sensor_check = 9;
}
}
}
// main acts as a cyclical task sequencer
void main(void)
{
OpenTimer0(TIMER_INT_OFF & T0_SOURCE_INT & T0_16BIT & T0_PS_1_64);
initialization(); // function from sumovore.c
// it sets up pwm (using timer2),
// IO pins, the ADC, the
// USART and the default
// threshold
printf("\n\rKwantlen APSC1299 simple curve follower -- with error codes\n\r");
ClrWdt(); // defined in <p18f4525.h>
threshold = 650u; // to change from default value
// uncomment and change to any unsigned int <1024u -- most usually <512u
while(1)
{
check_sensors(); // from sumovore.c
set_leds(); // function from sumovore.c
switch(SeeLine.B) // this is a switch based on the sensor values, SeeLine.B allows us to input sensor states as a 5 bit binary value
// it is already built into sumovore.c , so 0b11111 is all the sensors are on and 0b00000 is all sensors off
{
case 0b00100: motor_control();
break;
case 0b01110: motor_control();
break;
case 0: Robot_track_end();
break;
}
motor_control(); // function from motor_control.c
ClrWdt(); // defined in <p18f4525.h>
if(SeeLine.B==0)
{
}
if(lvd_flag_set()) LVtrap();
}
}
static gboolean applyConfig(gpointer p)
{
thermal *th = lxpanel_plugin_get_data(p);
int critical;
ENTER;
if (th->str_cl_normal) gdk_color_parse(th->str_cl_normal, &th->cl_normal);
if (th->str_cl_warning1) gdk_color_parse(th->str_cl_warning1, &th->cl_warning1);
if (th->str_cl_warning2) gdk_color_parse(th->str_cl_warning2, &th->cl_warning2);
remove_all_sensors(th);
if(th->sensor == NULL) th->auto_sensor = TRUE;
if(th->auto_sensor) check_sensors(th);
else if (strncmp(th->sensor, "/sys/", 5) != 0)
add_sensor(th, th->sensor, th->sensor, proc_get_temperature, proc_get_critical);
else if (strncmp(th->sensor, "/sys/class/hwmon/", 17) != 0)
add_sensor(th, th->sensor, th->sensor, sysfs_get_temperature, sysfs_get_critical);
else
add_sensor(th, th->sensor, th->sensor, hwmon_get_temperature, hwmon_get_critical);
critical = get_critical(th);
if(th->not_custom_levels){
th->warning1 = critical - 10;
th->warning2 = critical - 5;
}
config_group_set_string(th->settings, "NormalColor", th->str_cl_normal);
config_group_set_string(th->settings, "Warning1Color", th->str_cl_warning1);
config_group_set_string(th->settings, "Warning2Color", th->str_cl_warning2);
config_group_set_int(th->settings, "AutomaticLevels", th->not_custom_levels);
/* TODO: clean obsolete setting
config_setting_remove(th->settings, "CustomLevels"); */
config_group_set_int(th->settings, "Warning1Temp", th->warning1);
config_group_set_int(th->settings, "Warning2Temp", th->warning2);
config_group_set_int(th->settings, "AutomaticSensor", th->auto_sensor);
config_group_set_string(th->settings, "Sensor", th->sensor);
RET(FALSE);
}
void process_AI(void) {
printf("processing AI ... %i \n", temeraire_state.state);
switch(temeraire_state.state) {
case NOTHING :
printf("State doing nothing \n");
break;
case CHECKING_ENV :
switch(check_sensors()) {
case 0 :
// Nothing
printf("Rien a faire \n");
break;
case 1 :
speed_saveZ = TravelLengthZ;
TravelLengthZ = 0;
look_around();
temeraire_state.state = AVOIDING_WALL_FRONT;
printf("Go to avoiding wall front \n");
system("espeak -a 200 \"Wall detected in front\" &");
//find_where_to_turn(1);
//gettimeofday( &timebeforenextcheck, NULL );
break;
case 2 : // front item > go left
speed_saveZ = TravelLengthZ;
TravelLengthX = - TravelLengthZ;
temeraire_state.state = AVOIDING_ITEM_LEFT;
printf("Goto Avoiding item left \n");
system("espeak -a 200 \"Object detected in front! Avoiding it by the left\" &");
break;
case 3 :
speed_saveZ = TravelLengthZ;
TravelLengthX = TravelLengthZ;
temeraire_state.state = AVOIDING_ITEM_RIGHT;
printf("Goto Avoiding item right \n");
system("espeak -a 200 \"Object detected in front! Avoiding it by the right\" &");
break;
case 4 :
speed_saveZ = TravelLengthZ;
TravelLengthX = TravelLengthZ;
TravelRotationY = 5;
temeraire_state.state = AVOIDING_WALL_SIDE;
printf("Goto avoiding wall side \n");
system("espeak -a 200 \"Wall detected on my left\" &");
break;
case 5 :
speed_saveZ = TravelLengthZ;
TravelLengthX = - TravelLengthZ;
TravelRotationY = -5;
temeraire_state.state = AVOIDING_WALL_SIDE;
printf("Goto avoiding wall side \n");
system("espeak -a 200 \"Wall detected on my right\" &");
break;
default :
printf("Default State ?? \n");
break;
}
break;
case AVOIDING_ITEM_LEFT :
switch(check_sensors()) {
case 0 :
// Nothing
printf("Stop avoiding item left \n");
system("espeak -a 200 \"Object avoided successfully\" &");
temeraire_state.state = CHECKING_ENV;
TravelRotationY = 0;
TravelLengthX = 0;
TravelLengthZ = speed_saveZ;
break;
case 1 :
TravelLengthZ = 0;
look_around();
temeraire_state.state = AVOIDING_WALL_FRONT;
printf("Goto avoiding wall front \n");
//find_where_to_turn(1);
//gettimeofday( &timebeforenextcheck, NULL );
break;
case 2 : // front item > go left
TravelLengthZ = speed_saveZ;
if((us_sensor_distance_front < US_FRONT_LIMIT))
TravelLengthZ = 0;
else
TravelLengthX += 3;
break;
case 3 :
break;
case 4 :
TravelLengthZ = speed_saveZ;
if((us_sensor_distance_right < US_SIDE_LIMIT))
TravelLengthZ = 0;
else
TravelLengthX += 2;
break;
case 5 :
break;
default :
break;
}
break;
case AVOIDING_WALL_FRONT :
switch(check_sensors()) {
case 0 :
// Nothing
printf("Stop avoiding wall front \n");
system("espeak -a 200 \"Wall avoided successfully\" &");
temeraire_state.state = CHECKING_ENV;
TravelRotationY = 0;
TravelLengthX = 0;
TravelLengthZ = speed_saveZ;
break;
case 1 :
TravelLengthZ = 10; // Go back
//look_around();
//find_where_to_turn(1);
//gettimeofday( &timebeforenextcheck, NULL );
break;
case 2 : // front item > go left
TravelRotationY = 10;
break;
case 3 :
TravelRotationY = -10;
break;
case 4 :
TravelRotationY = 10;
break;
case 5 :
TravelRotationY = -10;
break;
default :
break;
}
break;
case AVOIDING_ITEM_RIGHT :
switch(check_sensors()) {
case 0 :
// Nothing
printf("Stop avoiding item right \n");
system("espeak -a 200 \"Object avoided successfully\" &");
temeraire_state.state = CHECKING_ENV;
TravelRotationY = 0;
TravelLengthX = 0;
TravelLengthZ = speed_saveZ;
break;
case 1 :
TravelLengthZ = 0;
look_around();
temeraire_state.state = AVOIDING_WALL_FRONT;
printf("Goto avoiding wall front \n");
//find_where_to_turn(1);
//gettimeofday( &timebeforenextcheck, NULL );
break;
case 2 : // front item > go left
break;
case 3 :
TravelLengthZ = speed_saveZ;
if((us_sensor_distance_front < US_FRONT_LIMIT))
TravelLengthZ = 0;
else
TravelLengthX -= 3;
break;
case 4 :
break;
case 5 :
TravelLengthZ = speed_saveZ;
if((us_sensor_distance_left < US_SIDE_LIMIT))
TravelLengthZ = 0;
else
TravelLengthX -= 2;
break;
default :
break;
}
break;
case AVOIDING_WALL_SIDE :
switch(check_sensors()) {
case 0 :
// Nothing
printf("Stop avoiding wall \n");
system("espeak -a 200 \"Wall avoided successfully\" &");
temeraire_state.state = CHECKING_ENV;
TravelRotationY = 0;
TravelLengthX = 0;
TravelLengthZ = speed_saveZ;
break;
case 1 :
TravelLengthZ = 0;
look_around();
temeraire_state.state = AVOIDING_WALL_FRONT;
printf("Goto avoiding wall front \n");
break;
case 2 : // front item > go left
TravelLengthZ = speed_saveZ;
if((us_sensor_distance_front < US_FRONT_LIMIT))
TravelLengthZ = 0;
else
TravelLengthX = - speed_saveZ;
break;
temeraire_state.state = AVOIDING_ITEM_LEFT;
case 3 :
TravelLengthZ = speed_saveZ;
if((us_sensor_distance_front < US_FRONT_LIMIT))
TravelLengthZ = 0;
else
TravelLengthX = speed_saveZ;
break;
temeraire_state.state = AVOIDING_ITEM_RIGHT;
break;
case 4 :
break;
case 5 :
break;
default :
break;
}
break;
default :
printf("Default state AI \n");
break;
}
}
void sharp_left_turns(void) //sharp left turns
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_left(); //spins left (was spin right in v004)
check_sensors(); //constantly keeps checking to see LED combinations
}
}
else if (SeeLine.b.Left&&!SeeLine.b.CntLeft&&SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//10100
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_left(); //spins left (was spin right in v004);
check_sensors(); //constantly keeps checking to see LED combinations
}
}
}
//WE ADDED THIS LINE TO SEE IF IT MAKES A DIFFERENCE (ADDED IN v008)
else if (SeeLine.b.Left&&SeeLine.b.CntLeft&&SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//11100
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_left(); //spins left (was spin right in v004)
check_sensors(); //constantly keeps checking to see LED combinations
}
}
}
//THIS LINE FUNCTION ENDS HERE
else if (SeeLine.b.Left&&SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//11000
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_left(); //spins left (was spin right in v004);
check_sensors(); //constantly keeps checking to see LED combinations
}
}
}
else if (!SeeLine.b.Left&&SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//01000
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_left(); //spins left (was spin right in v004)
check_sensors(); //constantly keeps checking to see LED combinations
}
}
}
else if (!SeeLine.b.Left&&SeeLine.b.CntLeft&&SeeLine.b.Center&&SeeLine.b.CntRight&&!SeeLine.b.Right)//01110
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_left(); //spins left (was spin right in v004)
check_sensors(); //constantly keeps checking to see LED combinations
}
}
}
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00100
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_left(); //spins left (was spin right in v004)
check_sensors(); //constantly keeps checking to see LED combinations
}
}
}
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&SeeLine.b.Center&&SeeLine.b.CntRight&&!SeeLine.b.Right)//00110
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_left(); //spins left (was spin right in v004)
check_sensors(); //constantly keeps checking to see LED combinations
}
}
}
else if (!SeeLine.b.Left&&SeeLine.b.CntLeft&&SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//01100
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//0000
{
spin_left(); //spins left (was spin right in v004)
check_sensors(); //constantly keeps checking to see LED combinations.
}
}
}
else;
}
void sharp_right_turns(void) //sharp right turns
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000 sees nothing
{
spin_right(); //spins right
check_sensors(); //constantly keeps checking to see LED combinations
}
}
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&SeeLine.b.Center&&!SeeLine.b.CntRight&&SeeLine.b.Right) //00101
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations.
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00000
{
spin_right(); //spins right
check_sensors(); //constantly keeps checking to see LED combinations.
}
}
}
//THIS WAS ADDED IN v008
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&SeeLine.b.Center&&SeeLine.b.CntRight&&SeeLine.b.Right)//00111
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_right(); //spins right
check_sensors(); //constantly keeps checking to see LED combinations
}
}
}
//FUNCTION STOPS HERE
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&SeeLine.b.CntRight&&SeeLine.b.Right) //00011
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00000
{
spin_right(); //spins right
check_sensors(); //constantly keeps checking to see LED combinations
}
}
}
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&SeeLine.b.CntRight&&!SeeLine.b.Right)//00010
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_right(); //spins right
check_sensors(); //constantly keeps checking to see LED combinations.
}
}
}
else if (!SeeLine.b.Left&&SeeLine.b.CntLeft&&SeeLine.b.Center&&SeeLine.b.CntRight&&!SeeLine.b.Right)//01110
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations.
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_right(); //spins right
check_sensors(); //constantly keeps checking to see LED combinations
}
}
}
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00100
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_right(); //spins right
check_sensors(); //constantly keeps checking to see LED combinations
}
}
}
else if (!SeeLine.b.Left&&SeeLine.b.CntLeft&&SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//01100
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_right(); //spins right
check_sensors(); //constanlty keeps checking to see LED combinations
}
}
}
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&SeeLine.b.Center&&SeeLine.b.CntRight&&!SeeLine.b.Right)//00110
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations.
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_right(); //spins right
check_sensors(); //constantly keeps checking to see LED combinations.
}
}
}
else;
}
void left_right_angle_turns(void) //left right angle turns, if else cases cover sharp turns aswell
{
straight_fwd(); //go straight
Delay10KTCYx(50); //Changed from Delay10KTCYx(25); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations.
if ( (SeeLine.B ) == 0b00000u) //all LEDS OFF
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_left(); //spins left (was spin right in v004)
check_sensors(); //constantly keeps checking to see LED combinations.
}
}
else if (!SeeLine.b.Left&&SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//01000
{
straight_fwd();
Delay10KTCYx(50); //Changed from Delay10KTCYx(25); (v 009)
check_sensors();
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_left(); //spins left (was spin right in v004).
check_sensors(); //constantly keeps checking to see LED combinations.
}
}
}
else if (!SeeLine.b.Left&&SeeLine.b.CntLeft&&SeeLine.b.Center&&SeeLine.b.CntRight&&!SeeLine.b.Right)//01110
{
straight_fwd(); //go straight
Delay10KTCYx(50); //Changed from Delay10KTCYx(25); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations.
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_left(); //spins left (was spin right in v004).
check_sensors(); //constantly keeps checking to see LED combinations.
}
}
}
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00100
{
straight_fwd(); //go straight
Delay10KTCYx(50); //Changed from Delay10KTCYx(25); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations.
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_left(); //spins left (was spin right in v004).
check_sensors(); //constantly keeps checking to see LED combinations. }
}
}
else if (!SeeLine.b.Left&&SeeLine.b.CntLeft&&SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//01100
{
straight_fwd(); //go straight
Delay10KTCYx(50); //Changed from Delay10KTCYx(25); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations.
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_left(); //spins left (was spins right in v004);
check_sensors(); //constantly keeps checking to see LED combinations.
}
}
}
else;
}
}
void right_right_angle_turns(void) //right right angle turns, if-else cases cover sharp turns as well
{
straight_fwd();
Delay10KTCYx(50); //Changed from Delay10KTCYx(25); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations.
if ( (SeeLine.B ) == 0b00000u) //all LEDs OFF.
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //while all off; 00000
{
spin_right(); //spins the robot right.
check_sensors(); //constantly keeps checking to see LED combinations.
}
}
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&SeeLine.b.CntRight&&!SeeLine.b.Right) //00010
{
straight_fwd(); //go straight
Delay10KTCYx(50); //Changed from Delay10KTCYx(25); (v 009)
check_sensors();
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00000
{
spin_right(); //spins the robot right.
check_sensors(); //constantly keeps checking to see LED combinations.
}
}
}
else if (!SeeLine.b.Left&&SeeLine.b.CntLeft&&SeeLine.b.Center&&SeeLine.b.CntRight&&!SeeLine.b.Right) //01110
{
straight_fwd(); //Go straight.
Delay10KTCYx(50); //Changed from Delay10KTCYx(25); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations.
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00000
{
spin_right(); //Rotates Right
check_sensors(); //constantly keeps checking to see LED combinations.
}
}
}
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00100
{
straight_fwd(); //Go straight.
Delay10KTCYx(50); //Changed from Delay10KTCYx(25); (v 009)
check_sensors(); //contantly keeps checking to see LED combinations.
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00000
{
spin_right(); //spins right
check_sensors(); //constantly keeps checking to see LED combinations.
}
}
}
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&SeeLine.b.Center&&SeeLine.b.CntRight&&!SeeLine.b.Right) //00110
{
straight_fwd(); //Go straight.
Delay10KTCYx(50); //Changed from Delay10KTCYx(25); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations.
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00000
{
spin_right(); //Rotates right.
check_sensors(); //constantly keeps checking to see LED combinations.
}
}
}
else;
}
