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authorschodet2004-12-19 20:27:11 +0000
committerschodet2004-12-19 20:27:11 +0000
commit8b9bbc5af08793dcf9869703a81381ca1b97884c (patch)
tree5e040ebdb6226c914d77687062d6ec8cda34db6e /n/line-follower/src/linesensor.c
parent006bbbb9bc0909e8d68b8e40289e180a81cb806b (diff)
asservissement vitesse
tests chez nico
Diffstat (limited to 'n/line-follower/src/linesensor.c')
-rw-r--r--n/line-follower/src/linesensor.c16
1 files changed, 10 insertions, 6 deletions
diff --git a/n/line-follower/src/linesensor.c b/n/line-follower/src/linesensor.c
index e425e66..30d70fd 100644
--- a/n/line-follower/src/linesensor.c
+++ b/n/line-follower/src/linesensor.c
@@ -3,7 +3,7 @@
/* linesensor.c */
/* linefol - Line follower robot on a ATmega128. {{{
*
- * Copyright (C) 2004 Nicolas Schodet
+ * Copyright (C) 2004 Pierre Prot
*
* Robot APB Team/Efrei 2005.
* Web: http://assos.efrei.fr/robot/
@@ -48,8 +48,8 @@ static inline void
linesensor_poll (void)
{
uint8_t c, a, i, sum;
- c = PINC;
- a = PINA;
+ c = PINC | 0x01;
+ a = PINA | 0x80;
sum=0;
lineActiveBits = 0;
@@ -83,9 +83,11 @@ static inline void
linesensor_print (void)
{
uint8_t c, a, i;
- c = PINC;
- a = PINA;
+ c = PINC | 0x01;
+ a = PINA | 0x80;
+ linesensor_poll ();
+
for (i = 0; i < 8; i++)
{
if (!(c & 1))
@@ -103,7 +105,9 @@ linesensor_print (void)
rs232_putc ('.');
a >>= 1;
}
- rs232_putc ('\r');
+ rs232_putc (' ');
+
+ proto_send1('P',(linepos + 15));
}
#endif // linesensor_c