/**@fn char Check_For_Object(OBJECT_LOCATION *location)
* @brief checks to see if there is an object on the belt, and finds its X position
* @param [in] *location pointer to an OBJECT_LOCATION struct to store object location data to
* @returns 1 if object is detected, else 0
* @note also writes X location data to the OBJECT_LOCATION struct
*/
char Check_For_Object(OBJECT_LOCATION *location)
{
int rangeBuff = 0;
int temp;
char i;
temp = ReadIR(IR_X);
//check to see if there was an object detected
if((temp <= X_MAX)&&(temp >= X_MIN))
{
//take the average of 16 measurements to determine X position
for(i = 0; i<16; i++)rangeBuff+=ReadIR(IR_X);
rangeBuff = rangeBuff/16;
location->xLocation = rangeBuff;
return 1;
}
return 0;
}
/********************************************************************
* Function: void ProcessIO(void)
* Overview: This function is a place holder for other user
* routines. It is a mixture of both USB and
* non-USB tasks.
*******************************************************************/
void ProcessIO(void)
{
LED1_PORT = 0;
IRLED_PORT = 0;
ButtonProc();
ReadIR();
SendIR();
}
/**@fn char Check_In_Range(OBJECT_LOCATION *location)
* @brief checks to see if the object is in grabber range, and finds its Y position
* @param [in] *location pointer to an OBJECT_LOCATION struct to store object location data to
* @returns 1 if object is in range, else 0
* @note also writes Y location data to the OBJECT_LOCATION struct
*/
char Check_In_Range(OBJECT_LOCATION *location)
{
int rangeBuff = 0;
rangeBuff = ReadIR(IR_Y);
location->yLocation = rangeBuff;
if((rangeBuff <= (Y_MAX + Y_TOL)&&(rangeBuff >= (Y_MIN - Y_TOL))))
{
_delay_ms(100);
return 1;
}
return 0;
}
