Final Project in Microprocessor Technology. Written in C. The program is designed to have a car follow a black line made of electrical tape and get to a point then come back to the initial spot.
Code provided is all but car.c.
Anthony Livingston Follow the Black Line December 2015
PROGRAM FUNCTION: This program is designed to use the 2 sensors on the rear wheel drive car to follow a black tape line. As the sensors read specific values, the car will react in different ways. These ways defined as turning the wheels to realign the car onto the black tape line. Once the car is to the end of the line it would turn around and come back to the beginning.
SUBROUTINES/FUNCTIONS/INTERRUPT ROUTINES: delay_ms() is a function defined in the my_io_apps.c file. Which will have the program delay a certain amount of time at that point.
Drive() is a function that will run the car through each state. The function sends required signals to the outputs based on the inputs from the sensors.
Input/Output The input used is the adc0 pin on the protoboard. Which is port used for the sensors. The outputs used are LEDs and motors. The LED on the Freescale Basys board was used to tell what state the car was in. The LEDs were set as the port b, c, and d. Using pins b(18,19) c(0,1,2,4) and d(1). The motors were set at PWM_0 and PWM_1.
VARIABLES: Gloabal Variable: Sensor 1 and 2 minimum and maximum reflection values for the sensors state -> to run the switch t -> to see if the motors are stopped and should turn around.