int kkkk(void)
{
velocity(255,255);
forward();
while(1)
{
servo_1(0);
servo_2(0);
servo_3(0);
forward();
red_read(); //display the pulse count when red filter is selected
_delay_ms(500);
green_read(); //display the pulse count when green filter is selected
_delay_ms(500);
blue_read(); //display the pulse count when blue filter is selected
_delay_ms(500);
lcd_wr_command(0x01);
print_sensor(1,1,3); //Prints value of White Line Sensor1
print_sensor(1,5,2); //Prints Value of White Line Sensor2
print_sensor(1,9,1); //Prints Value of White Line Sensor3
print_sensor(2,1,11);
servo_1(100);
servo_2(100);
servo_3(100);
_delay_ms(7000);
}
}
int scan()//return the color no.
{
red_read();
blue_read();
green_read();
_delay_ms(100);
if(!(ADC_Conversion(11)>55 && ADC_Conversion(11)<100))
return EMPTY;
if (red<threshold && green < threshold && blue < threshold)
{
return BLACK;
}
else
{
if (red > blue)
{
if (red > green)
return RED;
else
return GREEN;
}
else if (blue > green)
return BLUE;
else return GREEN;
}
}
int main(void)
{
init_devices();
lcd_set_4bit();
lcd_init();
color_sensor_scaling();
while(1)
{
red_read(); //display the pulse count when red filter is selected
_delay_ms(500);
green_read(); //display the pulse count when green filter is selected
_delay_ms(500);
blue_read(); //display the pulse count when blue filter is selected
_delay_ms(500);
no_filter();//display the pulse count when no filter is selected
_delay_ms(500);
}
}
//SORTMAN
//MAIN SORTING FUNCTION
//R-0 L-1
int colorCalc()
{
red_read();
blue_read();
green_read();
if (!(red>threshold && green > threshold && blue > threshold))
return BLACK;
else
{
if (red > blue)
{
if (red > green)
return RED;
else
return GREEN;
}
else if (blue > green)
return BLUE;
else return GREEN;
}
}
int scan()//return the color no.
{
red_read();
blue_read();
green_read();
if (red<threshold && green < threshold && blue < threshold)
return BLACK;
else
{
if (red > blue)
{
if (red > green)
return RED;
else
return GREEN;
}
else if (blue > green)
return BLUE;
else return GREEN;
}
}
int calcThresh()
{
int c[4],i;
red_read();
blue_read();
green_read();
for(i=0;i<4;i++)
c[i]=0;
for(i=0;i<4;i++)
{
//read();
if(red>green && red>blue)
if(c[0]>red)
{
if(c[3]<red)
c[3]=red;
}
else
{
if(c[3]<c[0])
c[3]=c[0];
c[0]=red;
}
else if(blue>green && red<blue)
if(c[1]>blue)
{
if(c[3]<blue)
c[3]=blue;
}
else
{
if(c[3]<c[1])
c[3]=c[1];
c[1]=blue;
}
else
if(c[2]>green)
{
if(c[3]<green)
c[3]=green;
}
else
{
if(c[3]<c[2])
c[3]=c[2];
c[2]=green;
}
}
int t=c[3];
lcd_cursor(1,1); //set the cursor on row 1, column 1
lcd_string("Threshold"); // Display "Blue Pulses" on LCD
t+=200;
lcd_print(2,1,t,5);
_delay_ms(10000);
lcd_wr_command(0x01); //Clear the LCD
lcd((char*)t);
return t;
}
