AMiRo-OS

// Different speed settings (all values in "rounds per minute")

// const int rpmTurnLeft[2] = {-10, 10};

// const int rpmTurnRight[2] = {rpmTurnLeft[1],rpmTurnLeft[0]};

// const int rpmHalt[2] = {0, 0};

// Definition of the fuzzyfication function

//  | Membership

// 1|_B__   G    __W__

//  |    \  /\  /

//  |     \/  \/

//  |_____/\__/\______ Sensor values

// SEE MATLAB SCRIPT "fuzzyRule.m" for adjusting the values

// All values are "raw sensor values"

/* Use these values for white ground surface (e.g. paper) */

// const int blackStartFalling = 0x1000; // Where the black curve starts falling

// const int blackOff = 0x1800; // Where no more black is detected

// const int whiteStartRising = 0x2800; // Where the white curve starts rising

// const int whiteOn = 0x6000; // Where the white curve has reached the maximum value

// const int greyMax = (whiteOn + blackStartFalling) / 2; // Where grey has its maximum

// const int greyStartRising = blackStartFalling; // Where grey starts rising

// const int greyOff = whiteOn; // Where grey is completely off again

/* Use these values for gray ground surfaces */

/*

const int blackStartFalling = 0x1000; // Where the black curve starts falling

const int blackOff = 0x2800; // Where no more black is detected

const int whiteStartRising = 0x4000; // Where the white curve starts rising

const int whiteOn = 0x5000; // Where the white curve starts rising

const int greyMax = (whiteOn + blackStartFalling) / 2; // Where grey has its maximum

const int greyStartRising = blackStartFalling; // Where grey starts rising

const int greyOff = whiteOn; // Where grey is completely off again

*/