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Revision 1931

Added by Dan Jacobs about 13 years ago

fixed ??? trunk

View differences:

lineDrive.c
146 146 
int turn(int type, int dir)
147 147 
{
148 148 
	if(stateLength!=0)return ERROR;
149 
	if(dir==IRIGHT){stateLength++; state[1]=IRIGHT; return NORMAL;}
150 
	if(dir==IUTURN){stateLength+=2;  state[1]=state[2]=ILEFT; return NORMAL;}
151 
	if(dir==ISTRAIGHT && type==SINGLE){stateLength++; state[1]=ISTRAIGHT; return NORMAL;}
152 
	if(dir==ISTRAIGHT){stateLength+=2; state[1]=state[2]=ISTRAIGHT; return NORMAL;}
153 
	//must be left turn
154 
	if(type==SINGLE){stateLength++; state[1]=ILEFT; return NORMAL;}
155 
	if(type==DOUBLE){stateLength+=3;state[1]=state[3]=ISTRAIGHT; state[2]=ILEFT; return NORMAL;}
156 
	if(type==ON_RAMP){stateLength+=2; state[1]=ILEFT; state[2]=ISTRAIGHT; return NORMAL;}
157 
	if(type==OFF_RAMP){stateLength+=2; state[1]=ISTRAIGHT; state[2]=ILEFT; return NORMAL;}
149 
	if(dir==IRIGHT)
150 
    {
151 
        stateLength++;
152 
        state[1]=IRIGHT;
153 
        return NORMAL;
154 
    }
155 
	if(dir==IUTURN)
156 
    {
157 
        stateLength+=2;
158 
        state[1]=state[2]=ILEFT;
159 
        return NORMAL;
160 
    }
161 
	if(dir==ISTRAIGHT && type==SINGLE)
162 
    {
163 
        stateLength++;
164 
        state[1]=ISTRAIGHT;
165 
        return NORMAL;
166 
    }
167 
	if(dir==ISTRAIGHT)
168 
    {
169 
        stateLength+=2;
170 
        state[1]=state[2]=ISTRAIGHT;
171 
        return NORMAL;
172 
    }
173 
	// At this point, must be left turn
174 
	if(type==SINGLE)
175 
    {
176 
        stateLength++;
177 
        state[1]=ILEFT;
178 
        return NORMAL;
179 
    }
180 
	if(type==DOUBLE_C || type==DOUBLE_T)
181 
    {
182 
        stateLength+=3;
183 
        state[1]=state[3]=ISTRAIGHT;
184 
        state[2]=ILEFT;
185 
        return NORMAL;
186 
    }
187 
	if(type==ON_RAMP)
188 
    {
189 
        stateLength+=2;
190 
        state[1]=ILEFT;
191 
        state[2]=ISTRAIGHT;
192 
        return NORMAL;
193 
    }
194 
	if(type==OFF_RAMP)
195 
    {
196 
        stateLength+=2;
197 
        state[1]=ISTRAIGHT;
198 
        state[2]=ILEFT;
199 
        return NORMAL;
200 
    }
158 201 

  		




  159
  202
  
    
	//Should never get here


  		




  160
  203
  
    
	return ERROR;


  		




  161
  204
  
    
}


  		




  
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