Pololu 0J5840, Руководство пользователя

Страница: 31 / 85

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
/*
* 3pi-linefollower - demo code for the Pololu 3pi Robot
*
* This code will follow a black line on a white background, using a
* very simple algorithm.
It demonstrates auto-calibration and use of
* the 3pi IR sensors, motor control, bar graphs using custom
* characters, and music playback, making it a good starting point for
* developing your own more competitive line follower.
*
*
http://www.pololu.com/docs/0J21
* http://www.pololu.com
* http://forum.pololu.com
*
*/
// The 3pi include file must be at the beginning of any program that
// uses the Pololu AVR library and 3pi.
#include <pololu/3pi.h>
// This include file allows data to be stored in program space. The
// ATmegaxx8 has 16x more program space than RAM, so large
// pieces of static data should be stored in program space.
#include <avr/pgmspace.h>
// Introductory messages. The "PROGMEM" identifier causes the data to
// go into program space.
const char welcome_line1[] PROGMEM = " Pololu" ;
const char welcome_line2[] PROGMEM = "3\xf7 Robot" ;
const char demo_name_line1[] PROGMEM = "Line" ;
const char demo_name_line2[] PROGMEM = "follower" ;
// A couple of simple tunes, stored in program space.
const char welcome[] PROGMEM = ">g32>>c32" ;
const char go[] PROGMEM = "L16 cdegreg4" ;
// Data for generating the characters used in load_custom_characters
// and display_readings.
By reading levels[] starting at various
// offsets, we can generate all of the 7 extra characters needed for a
// bargraph.
This is also stored in program space.
const char levels[] PROGMEM = {
0b00000,
0b00000,
0b00000,
0b00000,
0b00000,
0b00000,
0b00000,
0b11111,
0b11111,
0b11111,
0b11111,
0b11111,
0b11111,
0b11111
};
// This function loads custom characters into the LCD. Up to 8
// characters can be loaded; we use them for 7 levels of a bar graph.
void load_custom_characters()
{
lcd_load_custom_character(0,0); // no offset, e.g. one bar
lcd_load_custom_character(1,1); // two bars
?
Pololu 3pi Robot User’s Guide © 2001–2019 Pololu Corporation
7. Example Project #1: Line Following Page 31 of 85