void countLines(void){
updateSensorsWhite();
if(sensor[LEFT_BACK] == 0 && linel == 0 && liner == 0 && akt_time()>=nachkurvetimeout && akt_time()>=sperrtimeout){
linel = 1;
}else if(sensor[LEFT_BACK] == 1 && linel == 1 && liner == 0){
count++;
linel =0;
liner =0;
sperrtimeout = akt_time() + LINESPERR;
// lcd_cls();
// lcd_uint(kurven);
setting = 0;
}
if(sensor[RIGHT_BACK] == 0 && liner == 0 && linel == 0 && akt_time()>=nachkurvetimeout && akt_time()>=sperrtimeout){
liner = 1;
}else if(sensor[RIGHT_BACK] == 1 && liner == 1 && linel == 0){
count++;
linel =0;
liner =0;
sperrtimeout = akt_time() + LINESPERR;
// lcd_cls();
// lcd_uint(kurven);
setting = 0;
}
}
//Methode zum starten(warten auf Startlampe)
void starting(void){
servo_arc(0, 54);
if (analog(LEFT_BACK)>WHITE){ //wenn links schwarz
start = 'l';
}else if (analog(RIGHT_BACK)>WHITE){ //wenn rechts schwarz
start = 'r';
}
motPowLeft=8;
motPowRight=8;
lcd_putchar(start);
while(analog(9)>100);
timeoutAt = akt_time() + RUNTIME;
setMotPow(motPowLeft,motPowRight); //Gas geben:-)
sperrtimeout = akt_time() + 400; //Sperrzeit zum Linienzählen
}
//Rotation um 90° um eine Ecke auf der Streckenmarkierung, Übergabe der Richtung als deutsches Wort links/rechts in einem String
void rotate(unsigned char richtung){
//nach rechts??
if(richtung == 'rechts'){
setMotPow(motPowLeft,0);
setMotGear(forward,backward);
setMotPow(motPowLeft,10);
sleep(500);
do{
updateSensorsWhite();
}while(sensor[MID_RIGHT]);
setMotPow(motPowLeft,0);
setMotGear(forward,forward);
setMotPow(motPowLeft,motPowRight);
//nach links??
}else if (richtung == 'links'){
setMotPow(0,motPowRight);
setMotGear(backward,forward);
setMotPow(10,motPowRight);
sleep(500);
do{
updateSensorsWhite();
}while(sensor[MID_LEFT]);
setMotPow(0,motPowRight);
setMotGear(forward,forward);
setMotPow(motPowLeft,motPowRight);
}
followLine();
kurven++;
count = 0;
// lcd_cls();
// lcd_uint(count);
nachkurvetimeout = akt_time() + KURVSPERR;
}
void timer_check() {
int i = 0;
unsigned long cur_time = akt_time();
for (i = 0; i < TIMER_NUM; i++) {
if (cur_time > timer_list[i].timeout)
*(timer_list[i].flag) = 0;
}
}
unsigned long timer_reset(unsigned char index, unsigned long timeout,
unsigned char *flag) {
if (index < TIMER_NUM) {
*flag = 1;
timer_list[index].flag = flag;
timer_list[index].timeout = akt_time() + timeout;
return timer_list[index].timeout;
}
return 0; //Error
}
void rotateFrei(unsigned char richtung){
//nach rechts??
if(richtung == 'rechts'){
messung_start = akt_time() + messung-25;
setMotPow(motPowLeft,0);
setMotGear(forward,backward);
setMotPow(motPowLeft,10);
sleep(500);
do{
}while(akt_time()<=messung_start);
setMotPow(motPowLeft,0);
setMotGear(forward,forward);
setMotPow(motPowLeft,motPowRight);
//nach links??
}else if (richtung == 'links'){
messung_start = akt_time() + messung + 60;
setMotPow(0,motPowRight);
setMotGear(backward,forward);
setMotPow(10,motPowRight);
sleep(500);
do{
}while(akt_time()<=messung_start);
setMotPow(0,motPowRight);
setMotGear(forward,forward);
//motPowLeft=motPowLeft-1;
setMotPow(motPowLeft,motPowRight);
}
followLine();
kurven++;
count = 0;
//lcd_cls();
//lcd_uint(count);
nachkurvetimeout = akt_time() + KURVSPERR;
}
void AksenMain(void) {
starting();
do {
if (akt_time() >= timeoutAt) {
setMotPow(0,0);
break;
}
if(kurven == 8 && sensor[MID_MID] == 1 && sensor[MID_LEFT] == 1 && sensor[MID_RIGHT] == 1){
setMotPow(0,0);
break;
}
followLine();
countLines();
manage(start);
}while(1);
while(1);
}
