Revision 1899
Merging works
| highways.c | ||
|---|---|---|
| 6 | 6 |
static long averagei = 0; |
| 7 | 7 |
static int states = 0; |
| 8 | 8 |
int canMerge = 1; |
| 9 |
|
|
| 9 | 10 |
void highwayStart(){
|
| 10 | 11 |
canMerge = 1; |
| 11 | 12 |
} |
| 13 |
int changeLanes(){
|
|
| 14 |
if(counti<10000){
|
|
| 15 |
counti++; |
|
| 16 |
motor_r_set(FORWARD,232); |
|
| 17 |
motor_l_set(FORWARD,200); |
|
| 18 |
return 0; |
|
| 19 |
} |
|
| 20 |
int colours[5]; |
|
| 21 |
updateLine(colours); |
|
| 22 |
int pos = lineLocate(colours); |
|
| 23 |
if(pos >= 3 || pos <= -3){
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| 24 |
motor_r_set(FORWARD,187); |
|
| 25 |
motor_l_set(FORWARD,190); |
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| 26 |
return 0; |
|
| 27 |
} |
|
| 28 |
counti = 0; |
|
| 29 |
return 1; |
|
| 30 |
} |
|
| 12 | 31 |
int highwayFSM(){
|
| 13 | 32 |
switch(states){
|
| 14 | 33 |
|
| 15 | 34 |
case 0: // Normal Drive |
| 16 | 35 |
{
|
| 17 |
int theCode = doDrive(225);
|
|
| 36 |
int theCode = doDrive(205);
|
|
| 18 | 37 |
/* if(theCode != NORMAL && theCode >= 0) |
| 19 | 38 |
return theCode; |
| 20 | 39 |
*/ |
| ... | ... | |
| 23 | 42 |
usb_puts(" : ");
|
| 24 | 43 |
usb_puti(averagei); |
| 25 | 44 |
usb_puts("\r\n");
|
| 26 |
orb1_set_color(PURPLE);
|
|
| 45 |
orb1_set_color(CYAN);
|
|
| 27 | 46 |
if(range == -1){
|
| 28 | 47 |
range = 200; |
| 29 | 48 |
} |
| ... | ... | |
| 38 | 57 |
break; |
| 39 | 58 |
} |
| 40 | 59 |
case 1: |
| 41 |
merge(ILEFT); |
|
| 60 |
//merge(ILEFT);
|
|
| 42 | 61 |
states = 2; |
| 43 | 62 |
canMerge = 0; |
| 44 | 63 |
case 2: |
| 45 |
if(doDrive(160) == FINISHED) states = 0; |
|
| 46 |
orb1_set_color(BLUE); |
|
| 64 |
if(changeLanes()){
|
|
| 65 |
states = 0; |
|
| 66 |
orb1_set_color(GREEN); |
|
| 67 |
} |
|
| 68 |
else orb1_set_color(YELLOW); |
|
| 47 | 69 |
break; |
| 48 | 70 |
} |
| 49 | 71 |
return 0; |
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