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

90 Appendix B. Documentation of the programming
*/
if (search_direction == TRUE) {
Turn(RIGHT);
} else {
Turn(LEFT);
}
blob_found = FALSE;
}
} else {
/*
* search direction is reversed
*/
search_direction = !search_direction;
/*
* controlling if the blob is with the correct color
*/
blob_found = TRUE;
counter = 0;
n_point.X = Blobs[myBlob].Centroid.X;
n_point.Y
= Blobs[myBlob].OuterBox.Bottom;
s16 position[3];
/*
* for different camera positions different
* calibrations and motion mechanism is used
*/
if (cam_position == SERVO_TOP) {
CalculatePositionTop(n_point,
position);
#ifdef NO_DEBUG
Print_Int(n_point.X,"X in cam coordinates");
Print_Int(n_point.Y,"Y in cam coordinates");
Print_Int(position[0],"X in real coordinates");
Print_Int(position[1],"Y in real coordinates");
#endif
double alpha = 0;
alpha = atan2(position[1],
position[0]);
s8 omega_modifid = alpha * 100;
Triskar(position , omega_modifid,
speed);
if (Abs(position[0]) > 1200) {
speed[2] = speed[2] / 2;
Set_Speed(speed, FAR);
} else if (Abs(position[0]) > 700) {