B&B Electronics Asynchronous to Synchronous Converter 2010 Manual do Utilizador descarregar pdf (Página 26)

Department of Computer Science and Electronics

Then, the Atmega16 calculates the average of all the values read when the

sensor is above the field, i.e. the average of all the values bigger than xprima. The same

calculation is taking place when the sensor is above a white line, i.e. the average of all

the values that are smaller than xprima. After that, the two values obtained are half-

summed obtaining a closer result to the optimal threshold value.

Below follows the algorithm that calculates the 8 sensors’ threshold.

For (1000 steps)(1000 samples) do:

Watchdog reset

For (8 steps)(for 8 sensors) do:

Read analog data

If(data read bigger than max) do:

Max=data

End if

If (data read smaller that min)do:

Min=data

End if

Xprima=(max+min)/2

End for

Delay 50m sec.

End for

Figure 4-10. X prima calcule

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