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

106 Appendix B. Documentation of the programming
}
s16 left_speed[3] = { 550, 550, 550 };
s16 right_speed[3] = { -550, -550, -550 };
if (direction == LEFT) {
Set_Speed(left_speed, NORMAL);
} else {
Set_Speed(right_speed, NORMAL);
}
MSDelay(100);
Stop_Motor(3);
MSDelay(100);
————–Vision.h.——————
/*
* Vision.h
*
* Created on: Jan 19, 2011
* Author: Administrator
*/
#ifndef VISION_H_
#define VISION_H_
/* Includes ------------------------------------------------------------------*/
#include "91x_lib.h"
#include "CamInt_x24.h"
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
/* Module private variables --------------------------------------------------*/
extern u8 *pImgBufferData;
extern u32 BufferSize;
/* Exported macro ------------------------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
/* Exported functions ------------------------------------------------------- */
void CalculateBallPosition(u8 X, u8 Y, u8 Dpx,
double result[4]);
void CalculatePositionTop(TPoint point, s16 result[3]);
void CalculatePositionGround(TPoint point, s16 result[3]);
void Blob_Search(void);
#endif /* VISION_H_ */
————–Vision.c.——————