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-   -   inputting data for autonomous mode (http://www.chiefdelphi.com/forums/showthread.php?t=25457)

Lou 16-02-2004 20:33
inputting data for autonomous mode
 
so i want to put this code i got from the website
http://www.rec.ri.cmu.edu/education/...tent/index.htm
specifically the IR Reflective Sensor Program for line tracking
now in which file would i put thise code into?
although the instructiosn say to put this code into user_routines.c,
i thought you put autonomous code programming in user_routines_fast.c?
can anyone shed some light?
thanks in advance
-noob at programming :ahh:

this is the code for line tracking
Code:
void Default_Routine(void)/* BEGIN Default_Routine(); */
{

        if(rc_dig_in06 == 0)  /* if dark is seen */
                {
                pwm01=pwm03=127; /* turn left motors off */
                pwm02=pwm04=96; /* turn right motors forward slowly */
                }
        else
                {
                pwm01=pwm03=159; /* turn left motors forward slowly */
                pwm02=pwm04=127; /* turn right motors off */
                }

printf("%d\n", rc_dig_in06); /* print light sensor readings */

} /* END Default_Routine(); */

deltacoder1020 16-02-2004 21:33
Re: inputting data for autonomous mode
 
take the code from inside the Default_Routine() function, and put it in the User_Autonomous_Code() function (in user_routines_fast.c) instead. it should look like this:

Code:
/* in user_routines_fast.c */
 
void User_Autonomous_Code(void)
{
  while (autonomous_mode)  /* DO NOT CHANGE! */
  {
    if (statusflag.NEW_SPI_DATA)      /* 26.2ms loop area */
    {
        Getdata(&rxdata);  /* DO NOT DELETE, or you will be stuck here forever! */

        if(rc_dig_in06 == 0)  /* if dark is seen */
                {
                pwm01=pwm03=127; /* turn left motors off */
                pwm02=pwm04=96; /* turn right motors forward slowly */
                }
        else
                {
                pwm01=pwm03=159; /* turn left motors forward slowly */
                pwm02=pwm04=127; /* turn right motors off */
                }

printf("%d\n", rc_dig_in06); /* print light sensor readings */
        Putdata(&txdata);  /* DO NOT DELETE, or you will get no PWM outputs! */
    }
  }
}

Lou 16-02-2004 22:26
Re: inputting data for autonomous mode
 
Quote:
Originally Posted by deltacoder1020
take the code from inside the Default_Routine() function, and put it in the User_Autonomous_Code() function (in user_routines_fast.c) instead. it should look like this:

Code:
/* in user_routines_fast.c */
 
void User_Autonomous_Code(void)
{
  while (autonomous_mode)  /* DO NOT CHANGE! */
  {
    if (statusflag.NEW_SPI_DATA)      /* 26.2ms loop area */
    {
        Getdata(&rxdata);  /* DO NOT DELETE, or you will be stuck here forever! */

        if(rc_dig_in06 == 0)  /* if dark is seen */
                {
                pwm01=pwm03=127; /* turn left motors off */
                pwm02=pwm04=96; /* turn right motors forward slowly */
                }
        else
                {
                pwm01=pwm03=159; /* turn left motors forward slowly */
                pwm02=pwm04=127; /* turn right motors off */
                }

printf("%d\n", rc_dig_in06); /* print light sensor readings */
        Putdata(&txdata);  /* DO NOT DELETE, or you will get no PWM outputs! */
    }
  }
}
thanks alot for your help!


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