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Line-Sensor-Test-Raw
main.c
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line_sensor_test_raw/main.c [read only]
#include <nibobee/iodefs.h> #include <nibobee/delay.h> #include <nibobee/led.h> #include <nibobee/sens.h> #include <nibobee/analog.h> #include <nibobee/line.h> void line_read_persistent(); uint16_t line_get(uint8_t idx); void line_calibrate_white(); void line_calibrate_black(); void do_blink(uint8_t mask) { for (int i=0; i<5; ++i) { led_set(LED_L_YE, mask&0x01); led_set(LED_L_RD, mask&0x02); led_set(LED_R_RD, mask&0x04); led_set(LED_R_YE, mask&0x08); delay(200); led_set(LED_L_RD, 0); led_set(LED_R_RD, 0); led_set(LED_L_YE, 0); led_set(LED_R_YE, 0); delay(200); } } int main() { led_init(); sens_init(); analog_init(); activate_output_bit(IO_LINE_EN); uint8_t mode; while (1==1) { enable_interrupts(); delay(10); if ((sens_getLeft()!=0) || (sens_getRight()!=0)) { while ((sens_getLeft()!=0) || (sens_getRight()!=0)) { // wait for release delay(1); } mode++; if (mode==3) { mode=0; } switch (mode) { case 0: do_blink(0x03); break; case 1: do_blink(0x06); break; case 2: do_blink(0x0c); break; } } uint16_t val; switch (mode) { case 0: val = analog_getValue(ANALOG_L0); break; case 1: val = analog_getValue(ANALOG_C0); break; case 2: val = analog_getValue(ANALOG_R0); break; } set_output_groupbitval(IO_LEDS, L_YE, val>0x080); set_output_groupbitval(IO_LEDS, L_RD, val>0x100); set_output_groupbitval(IO_LEDS, R_RD, val>0x200); set_output_groupbitval(IO_LEDS, R_YE, val>0x300); } return 0; }
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