/**
* Simulates distance sensing for the IR sensors via decreasing the voltage the emitters get and counting the number of times the
* sensors sense something
*/
void calculateIR(int * irLeft, int * irRight, int * irLeftOld, int * irRightOld){
*irLeftOld = *irLeft;
*irRightOld = *irRight;
/*int el = 160/IR_STEP, bl = 0, er = 160/IR_STEP, br = 0;
while(el-bl>1 || er-br>1){
int dacVal = (el+bl)/2;
dac_ctr(26, 0, 160-dacVal*IR_STEP);
dac_ctr(27, 1, 160-dacVal*IR_STEP);
freqout(11, 1, 38000);
if(input(10)) bl=dacVal;
else el=dacVal;
dacVal = (er+br)/2;
dac_ctr(26, 0, 160-dacVal*IR_STEP);
dac_ctr(27, 1, 160-dacVal*IR_STEP);
freqout(1, 1, 38000);
if(input(2)) br=dacVal;
else er=dacVal;
}
*irLeft=bl;
*irRight=br;*/
*irLeft=*irRight=0;
for(int dacVal = 0; dacVal < 160; dacVal += 8) {
dac_ctr(26, 0, dacVal);
freqout(11, 1, 38000);
*irLeft += input(10);
dac_ctr(27, 1, dacVal);
freqout(1, 1, 38000);
*irRight += input(2);
}
}
int main() // main function
{
dac_ctr(26, 0, 194); // 2.5 V to D/A0
dac_ctr(27, 1, 78); // 1 V to D/A1
pause(2000); // Pause 2 seconds
dac_ctr(26, 0, 78); // 1 V to D/A0
dac_ctr(27, 1, 194); // 1.5 V to D/A1
pause(2000); // Pause 2 seconds
dac_ctr_stop(); // Stop D/A cog
}
int getIR()
{
irLeft = 0;
irRight = 0;
for (int dacVal = 0; dacVal < 160; dacVal += 8) {
dac_ctr(26, 0, dacVal);
freqout(11, 1, 38000);
irLeft += input(10);
dac_ctr(27, 1, dacVal);
freqout(1, 1, 38000);
irRight += input(2);
}
}
int checkClose(){
irLeft = 0;
irRight = 0;
distance = ping_cm(8);
for(int dacVal = 0; dacVal < 160; dacVal += 8){
dac_ctr(26, 0, dacVal);
freqout(11, 1, 38000);
irLeft += input(10);
dac_ctr(27, 1, dacVal);
freqout(1, 1, 38000);
irRight += input(2);
}
if (irLeft<7) {
drive_speed(25,0);
} else if (irLeft > 9 || irLeft == 0){
drive_speed(0,25);
} else {
drive_speed(40,40);
}
if (distance<=5){
fullTurn(90);
degrees+=90;
end=1;
}
drive_getTicks(&ticksLeft, &ticksRight);
leftDeg = ((ticksLeft * 360) / 332.38128) * 3.25;
rightDeg = ((ticksRight * 360) / 332.38128) * 3.25;
degrees = degrees + (rightDeg - leftDeg);
moved = ticksLeft * 3.25;
}