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

B.1. Microprocessor Code 89
#ifdef NO_DEBUG
Print_Int(speed[0],"b1 motor send:");
Print_Int(speed[1],"b2 motor send:");
Print_Int(speed[2],"b3 motor send:");
#endif
} else { //control hit else
#ifdef NO_DEBUG
Print_Int(control_hit,"hit?");
#endif
Blob_Search();
#ifdef NO_DEBUG
Print_Int(BlobCount ," blobs found...\n");
#endif
TPoint n_point;
u8 k;
s8 myBlob;
s16 maxArea;
maxArea = 0;
myBlob = -1;
/*
* among the available blob the blob with the
* biggest size is selected as the blob
*/
for (k = 0; k < BlobCount; k++) {
if (Blobs[k].ColorSetID == color) {
if (maxArea < Blobs[k].Area) {
maxArea = Blobs[k].Area;
myBlob = k;
}
}
}
//if(BlobCount == 0){
if (myBlob < 0) {
//random search
#ifdef NO_DEBUG
USB_WriteString("Searching for a blob...\n");
#endif
/* in order to prevent continue turning to search for blob
* counter introduced.
*/
if (blob_found == TRUE) {
counter++;
} else if (counter > 3 || blob_found
== FALSE) {
/*search_direction changes the turning side to left to
* right or vice versa