char Tape_isBlack(TAPE_Sensor_t
tapeNum)
Set rawValue
equal to analog input value from sensor corresponding to tapeNum
If lastReads[tapeNum] is WHITE
If rawValue
> thresBlack
lastReads[tapeNum] = BLACK
Else
if
rawValue < thresWhite
lastReads[tapeNum] = WHITE
return lastReads[tapeNum] == BLACK
char Tape_isParallel(void)
Return True
if front, center, and rear tape sensors all read BLACK
char Tape_isPerp(void)
Return True
if center, center_left, and center_right
tape sensors all read BLACK
TAPE_TrackStatus_t Tape_getTrackStatus(void)
Set combo =
4*Tape_isBlack(FRONT_LEFT) + 2*Tape_isBlack(FRONT)
+ Tape_isBlack(FRONT_RIGHT)
switch(combo)
case
0: return LOST
case
1: return WAY_LEFT
case
2: return ALIGNED
case
3: return LIL_LEFT
case
4: return WAY_RIGHT
case
5: return ERROR
case
6: return LIL_RIGHT
case
7: return INTERSECTION