Submitted version of the thesis - Airlab, the Artificial Intelligence ...

B.1. Microprocessor Code 87
/* Configure the USB */
USB_Configuration();
USB_Init();
LED_ON(LEDR);
MSDelay(200);
LED_OFF(LEDR);
MSDelay(200);
LED_ON(LEDR);
MSDelay(200);
LED_OFF(LEDR);
MSDelay(200);
LED_ON(LEDR);
MSDelay(200);
LED_OFF(LEDR);
/* To initialize camera parameters*/
Init_Cam();
/* To initialize motors, configure pins and PWM values*/
Init_Motors();
/* To arrange camera head position
* available position SERVO_TOP ,SERVO_MID ,SERVO_BOTTOM
* */
Position_Camera(SERVO_TOP);
/* To initialize bumpers, and configure pins */
Init_Bumpers();
MSDelay(2000);
/* To define blob color & geometry */
Init_BlobParameters();
/* the initial values */
bool search_direction = TRUE;
u8 game_end = 0;
bool blob_found = FALSE;
bool color_done = FALSE;
u8 cam_position = SERVO_TOP;
u8 counter = 0;
u8 color = 1;
s16 speed[3];
u8 replay_counter = 0;
while (1) {
/*reading the bumpers values */
u8 check_bumpers[6] = { 0 };
Bumpers(check_bumpers);
/*to blink led*/
Led_SM();
/* controlling whether the first target acquired */