line_tracking.h File Reference

Line detection and PID tracking using CMUcam2. More...

#include <stdint.h>
#include <stdbool.h>

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Macros
#define	DS_X_LINE   1
#define	DS_Y_LINE   4
#define	VW_X1_LINE   10
#define	VW_Y1_LINE   1
#define	VW_X2_LINE   77
#define	VW_Y2_LINE   35
#define	VW_X_SIZE_LINE   (VW_X2_LINE - VW_X1_LINE + 1)
#define	VW_Y_SIZE_LINE   (VW_Y2_LINE - VW_Y1_LINE + 1)
#define	LINE_STATS_ROWS   VW_Y_SIZE_LINE
#define	LINE_STATS_COLS   4

Functions
void	adjustPWM (void)
void	trackLineInit (void)
void	restartLineMode (void)
void	analyzeLineStats (void)
bool	isGoodScan (uint8_t y)
bool	isJunctionScan (uint8_t y)
bool	mayBeBallScan (uint8_t y)
void	printPacket (void)

Variables
int8_t	junctionY
volatile uint8_t	lineStats [LINE_STATS_ROWS][LINE_STATS_COLS]
volatile bool	lineStatsProcessed

Detailed Description

Line detection and PID tracking using CMUcam2.

Definition in file line_tracking.h.