/*
* move the motor to the given location
*/
void move(int location) {
int posn = 0;
ADCON0bits.GO = 1; //ConvertADC();
while (0 == ADCON0bits.GO); // spin while busy
posn = ((((unsigned int)ADRESH)<<8)|(ADRESL) - location) / ADC_PRECISION;
while (0 != posn) { // move forward or back depending on the location
if (posn < 0) {
adjustMotor(1);
} else {
adjustMotor(0);
}
Delay100TCYx(1);
ADCON0bits.GO = 1; //ConvertADC(); // determine new location and if any change is needed
while (0 == ADCON0bits.GO); // spin while busy
posn = ((((unsigned int)ADRESH)<<8)|(ADRESL) - location) / ADC_PRECISION;
}
PORTDbits.RD6 = 1; // lock the reader
PORTDbits.RD7 = 1;
}
void loop(){
if(move){
detectLine();
keepDistance();
adjustMotor(min(motorLine_l,motorDist_l),min(motorLine_r,motorDist_r));
}
else
{
hearClap();
}
}
void loop(){
if(move){
detectLine();
keepDistance();
adjustMotor(min(motorLine_l,motorDist_l),min(motorLine_r,motorDist_r));
measureDistance();
}
else
{
detectAlone();
}
}
