/**************************************************************************

TapeSensors.h

ME 218B Project Hats Off

Team Firefox

March 7, 2010

Robot uses 7 tape sensors to track and align with tape on the floor.

***************************************************************************/

#ifndef TapeSensors_h

#define TapeSensors_h

/*-------------------------- Include Files -----------------------------*/

#include <stdio.h>

#include <termio.h>

#include <hidef.h>

#include <mc9s12e128.h>

#include <bitdefs.h>

#include <S12E128bits.h>

#include "S12eVec.h"

#include "ADS12.h"

#include "ME218_E128.h"

//included with main.c for E128

/* common defines and macros */

/* derivative information */

#pragma LINK_INFO DERIVATIVE "SampleS12"

/*-------------------------- Public Type Def -----------------------------*/

typedef enum { ALIGNED,

LIL_LEFT,

WAY_LEFT,

LIL_RIGHT,

WAY_RIGHT,

LOST,

ERROR,

INTERSECTION

} TAPE_TrackStatus_t;

//numbers correspond to analog pin assignment

typedef enum { FRONT = 0,

FRONT_LEFT = 1,

FRONT_RIGHT = 2,

CENTER = 3,

CENTER_LEFT = 4,

CENTER_RIGHT = 5,

REAR = 6

} TAPE_Sensor_t;

/*-------------------------- Public Functions -----------------------------*/

char Tape_isParallel(void); //is robot aligned with black tape

char Tape_isPerp(void); //is robot perpendicular to black tape

TAPE_TrackStatus_t Tape_getTrackStatus(void); //how close is robot to tracking black line

char Tape_isBlack(TAPE_Sensor_t); //specifically check one tape sensor

#endif