root / trunk / code / projects / linefollowing / lineDrive.c @ 1857
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#include "lineDrive.h" |
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int state[5]; |
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int stateCounter;
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int stateLength;
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int stopped=1; |
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void lineDrive_init()
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{ |
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lineFollow_init(); |
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for(int i=0; i<5; i++)state[i]=0; |
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stateCounter=0;
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stateLength=0;
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stopped=0;
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} |
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int doDrive(int speed) |
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{ |
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if(stopped)
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{ |
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motor_l_set(FORWARD, 0);
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motor_r_set(FORWARD, 0);
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return NORMAL;
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} |
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int code;
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switch(state[0]) |
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{ |
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case ISTRAIGHT:
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code = lineFollow(speed); |
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if(code==INTERSECTION)
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{ |
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for(int i=0; i<4; i++) state[i]=state[i+1]; |
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state[4]=0; |
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if(state[0]==0)stateCounter++; |
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break;
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} |
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else if(code==NOBARCODE) return NORMAL; |
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return code;
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case ILEFT:
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code = turnLeft(); |
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if(code==0) |
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{ |
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state[0]=0; |
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stateCounter++; |
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} |
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break;
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case IRIGHT:
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code = turnRight(); |
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if(code==0) |
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{ |
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state[0]=0; |
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stateCounter++; |
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} |
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break;
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case MERGELEFT:
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code = mergeLeft(); |
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if(code==0) |
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{ |
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state[0]=0; |
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stateLength=0;
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return FINISHED;
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} |
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return NORMAL;
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case MERGERIGHT:
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code = mergeRight(); |
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if(code==0) |
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{ |
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state[0]=0; |
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stateLength=0;
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return FINISHED;
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} |
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return NORMAL;
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default:
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return LOST;
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} |
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if(stateCounter>=stateLength)
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{ |
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stateCounter=stateLength=0;
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return FINISHED;
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} |
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return NORMAL;
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} |
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void start(void){stopped=0;} |
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void stop(void){stopped=1;} |
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int merge(int dir) |
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{ |
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if(stateLength!=0)return ERROR; |
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stateLength++; |
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state[0]=(dir==ILEFT ? MERGELEFT : MERGERIGHT);
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return NORMAL;
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} |
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int turn(int type, int dir) |
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{ |
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if(stateLength!=0)return ERROR; |
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if(dir==IRIGHT){stateLength++; state[1]=IRIGHT; return NORMAL;} |
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if(dir==IUTURN){stateLength+=2; state[1]=state[2]=ILEFT; return NORMAL;} |
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if(dir==ISTRAIGHT && type==SINGLE){stateLength++; state[1]=ISTRAIGHT; return NORMAL;} |
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if(dir==ISTRAIGHT){stateLength+=2; state[1]=state[2]=ISTRAIGHT; return NORMAL;} |
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//must be left turn
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if(type==SINGLE){stateLength++; state[1]=ILEFT; return NORMAL;} |
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if(type==DOUBLE){stateLength+=3;state[1]=state[3]=ISTRAIGHT; state[2]=ILEFT; return NORMAL;} |
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if(type==ON_RAMP){stateLength+=2; state[1]=ILEFT; state[2]=ISTRAIGHT; return NORMAL;} |
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if(type==OFF_RAMP){stateLength+=2; state[1]=ISTRAIGHT; state[2]=ILEFT; return NORMAL;} |
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//Should never get here
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return ERROR;
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} |
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