commit e8cf90bd263022333d81e666d3b190f95a525d21
parent 2fb26131534cb809a7c4aa5696b482907e88ae55
Author: thing1 <thing1@seacrossedlovers.xyz>
Date: Tue, 18 Nov 2025 12:54:43 +0000
lectures and lab
Diffstat:
5 files changed, 52 insertions(+), 20 deletions(-)
diff --git a/CS12020/17.11.25.md b/CS12020/17.11.25.md
@@ -0,0 +1,4 @@
+17/11/25
+========
+
+- structs are cool
diff --git a/CS12020/robot/line/helper.h b/CS12020/robot/line/helper.h
@@ -108,8 +108,8 @@ readint() {
void
stepMove(int dir) {
- servoA.write(SERVOA_ZERO + (10 * dir));
- servoB.write(SERVOB_ZERO - (10 * dir));
+ servoA.write(SERVOA_ZERO + (6 * dir));
+ servoB.write(SERVOB_ZERO - (6 * dir));
delay(10);
servoA.write(SERVOA_ZERO);
servoB.write(SERVOB_ZERO);
diff --git a/CS12020/robot/line/line.ino b/CS12020/robot/line/line.ino
@@ -1,9 +1,31 @@
#include "helper.h"
int prevDir = BWD;
-long timeSinceBar = 0;
-long barcode = 0;
-bool hasSeenBar = false;
+long timeStamp = 0;
+
+void
+stepAvoidanceBehave() {
+ int left = analogRead(LDRA),
+ mid = analogRead(LDRB),
+ right = analogRead(LDRC);
+
+ if (mid > left - 300 && mid > right - 300)
+ stepMove(BWD);
+ stepTurn((left > right) ? RGT : LFT);
+}
+
+void
+stepAttractionBehave() {
+ int left = analogRead(LDRA),
+ mid = analogRead(LDRB),
+ right = analogRead(LDRC);
+
+ if (mid > left - 300 && mid > right - 300)
+ stepMove(FWD);
+
+ stepTurn((left < right) ? RGT : LFT);
+}
+
void
setup() {
@@ -17,26 +39,23 @@ void loop() {
mid = !isLDRBright(LDRB),
right = !isLDRBright(LDRC);
- if (right && left && mid) {
- if (hasSeenBar) {
- if (millis() - barcode > 3000) {
+ if (right && left && mid) { /* on barcode */
+ if (timeStamp > 500) {
+ if ((millis() - timeStamp) > 3000) { /* long barcode */
setLEDs(LOW, HIGH, LOW);
- delay(100000);
- } else if (millis() - barcode > 800) {
- setLEDs(HIGH, LOW, LOW);
- delay(100000);
+ while (1)
+ stepAvoidanceBehave();
+ }
+ else if ((millis() - timeStamp) > 800) { /* short barcode */
+ setLEDs(HIGH, LOW, HIGH);
+ while (1)
+ stepAvoidanceBehave();
}
}
- if (timeSinceBar)
- barcode = timeSinceBar;
- timeSinceBar = millis() - timeSinceBar;
+ timeStamp = millis();
for (int i = 0; i < 20; i++)
stepMove(FWD);
- return;
- } else if (barcode) {
- hasSeenBar = true;
- }
-
+ }
if (right && mid)
stepLFT();
diff --git a/CS18120/18.11.25.md b/CS18120/18.11.25.md
@@ -0,0 +1,4 @@
+18/11/25
+========
+
+- latex cool (we already knew this)
diff --git a/PH16210/17.11.25.md b/PH16210/17.11.25.md
@@ -0,0 +1,5 @@
+17/11/25
+========
+
+- Orthogonal means that 2 curves tangents are right angles to eachother
+ - See fig1 for a rule for this
