// Run the IHK line
void runLine(){
LCDClear();
static const uint8_t forwardDirection = 0;
// Start speed, current speed.
uint8_t currentSpeed = SPEED_CREEP;
setDirectionMotorL(forwardDirection);
setDirectionMotorR(forwardDirection);
// Run until end of track.
while(stopFlag == FLAG_NOT_SET)
{
if(getSensorUpdateFlag())
{
// When a line is lost after driving straight, go in search mode
if(lostLineFlag == FLAG_SET)
{
searchMode();
lostLineFlag = FLAG_NOT_SET;
}
// When line is found, make a Right turn
// Increase speed and follow the line.
if(foundLineFlag == FLAG_SET)
{
go(150,DIRECTION_RIGHT,SPEED_CREEP);
setDirectionMotorL(forwardDirection);
setDirectionMotorR(forwardDirection);
currentSpeed = SPEED_CREEP;
foundLineFlag = FLAG_USED;
}
// When following the line,
// if front sensor detects obstacle,
// exit line following loop
if (foundLineFlag == FLAG_USED)
{
uint16_t distance = AdcConvert(1);
if (distance > (uint16_t)500)
{
setStopFlag(FLAG_SET);
}
}
// Calculate and set new duty cycle.
calcDuty(currentSpeed, calcFloorErrorAndFlagControl());
clearSensorUpdateFlag();
}
}
// Stop the robot at end mark.
setDutyCycleMotorL(0);
setDutyCycleMotorR(0);
}
bool obstacleDetectedInFront()
{
uint16_t distance = AdcConvert(1);
if (distance > (uint16_t)400)
{
return true;
}
return false;
}
bool isExtremelyNearToObstacle()
{
uint16_t distance = AdcConvert(2);
if (distance > (uint16_t)500)
{
return true;
}
return false;
}
bool hasAlignedWithObstacle()
{
uint16_t distance = AdcConvert(2);
if (distance > 250)
{
return true;
}
return false;
}
bool isTooNearToObstacle()
{
uint16_t distance = AdcConvert(2);
if (distance > (uint16_t)400)
{
return true;
}
return false;
}
bool isTooFarFromObstacle()
{
uint16_t distance = AdcConvert(2);
if (distance < (uint16_t)350)
{
return true;
}
return false;
}
int main(void)
{
DDRF = 0x00;
DDRA = 0xFF;
DDRB = 0xFF;
sei();
initAdc();
/* Replace with your application code */
while (1)
{
_delay_ms(10);
AdcConvert();
}
return 1;
}
