groundSensor.c

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#include "main.h"
#include "lcd.h"

short cutoff;


void groundSensor_init() {
    oi_t *sensors = oi_alloc();
    oi_init(sensors);
}


char getGroundData(oi_t *sensors) {
    cutoff = 2600; //white tape data, to be calibrated, assuming 0=black, 2800=white
    oi_update(sensors);

    //detect hole
    if(sensors->cliffLeft) {
        return 1;
    }
    else if(sensors->cliffFrontLeft) {
        return 2;
    }
    else if(sensors->cliffFrontRight) {
        return 3;
    }
    else if(sensors->cliffRight) {
        return 4;
    }

    //detect tape - use cutoff value
    if(sensors->cliffLeftSignal > cutoff) {
        return 5;
    }
    else if(sensors->cliffFrontLeftSignal > cutoff) {
        return 6;
    }
    else if(sensors->cliffFrontRightSignal > cutoff) {
        return 7;
    }
    else if(sensors->cliffRightSignal > cutoff) {
        return 8;
    }

    return 0;
}