Revision 1902

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trunk/code/projects/traffic_navigation/highways.h
1 1
#ifndef HIGHWAYS_H
2 2
#define HIGHWAYS_H
3 3

  
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int highwayFSM(void);
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void highwayStart(void);
4
int highwayFSM(void);   //FSM for dogs
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void highwayStart(void);//enables the option to merge, can only merge once
6 6

  
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/*lets you change these variables in other files*/
8

  
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extern int counti;
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extern int canMerge;
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extern long averagei;
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extern int states; 
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7 14
#define COUNT_MAX 12
8
#define PASS_DISTANCE 275
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#define PASS_DISTANCE 200
9 16
#endif
trunk/code/projects/traffic_navigation/highways.c
2 2
#include "lineDrive.h"
3 3
#include <dragonfly_lib.h>
4 4

  
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static int counti =0;
6
static long averagei = 0;
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static int states = 0;
5
int counti =0;
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long averagei = 0;
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int states = 0;
8 8
int canMerge = 1;
9 9

  
10 10
void highwayStart(){
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	canMerge = 1;
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}
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int changeLanes(){
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static int changeLanes(){
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        if(counti<10000){
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		counti++;
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		motor_r_set(FORWARD,232);

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