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root / trunk / code / projects / traffic_navigation / validTurns.h @ 1876

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#ifndef _VALID_TURNS_
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#define _VALID_TURNS_
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#include "../linefollowing/lineFollow.h"
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#include "../linefollowing/lineDrive.h"
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//To differenciate between T and Cross Intersections
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#define DOUBLE_C        4
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#define DOUBLE_T        5
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//DOUBLE intersection (Cross Intersection) positions
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//use T-Junction positions
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//DOUBLE intersection (T-Junction) positions
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/*
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TLEFT=======TRIGHT
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        ||
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        ||
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        ||
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        TMIDDLE
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*/
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#define TLEFT                0                        
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#define TRIGHT                1                        
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#define TMIDDLE                2
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//SINGLE intersection positions
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/*
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           /\
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          /||\
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           ||
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SACROSS==========>
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           ||
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           ||
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           ||
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           SUP
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*/
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#define SACROSS                0
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#define SUP                1
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//ON_RAMP and OFF_RAMP intersection positions
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/*
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R_LEFT================R_RIGHT
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            ||        
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            ||
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            ||
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          R_RAMP
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*/
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#define R_LEFT                0
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#define R_RIGHT                1
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#define R_RAMP                2
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int getCrossType(int barcode);
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int getCrossPos(int barcode, int max);
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int getTurnType();
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int validateTurn(int barcode);
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#endif