root / trunk / code / projects / traffic_navigation / main-intersectionTest.c @ 1934
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1 | 1918 | bwasserm | /*
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2 | * main.c for Traffic Navigation
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3 | * Runs the highest level behavior for the Dynamic Traffic Navigation (DTM) SURG
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4 | *
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5 | * Author: Colony Project, CMU Robotics Club
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6 | */
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7 | |||
8 | #include "traffic_navigation.h" |
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9 | |||
10 | static int state, sign, dataLength, pingWaitTime, turnDir; |
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11 | static char sendBuffer[PACKET_LENGTH], prevBot, nextBot, id, nextDir, nextPath, intersectionNum; |
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12 | static unsigned char *packet; |
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13 | |||
14 | void enterIntersectionQueue(int sign); |
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15 | void waitInIntersectionQueue();
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16 | void driveThroughIntersection(int sign); |
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17 | |||
18 | int main (void) { |
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19 | |||
20 | /* Initialize the dragonfly boards, the xbee, encoders, lineFollowing */
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21 | dragonfly_init(ALL_ON); |
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22 | xbee_init(); |
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23 | encoders_init(); |
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24 | lineDrive_init(); |
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25 | rtc_init(SIXTEENTH_SECOND, NULL);
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26 | wl_basic_init_default(); |
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27 | wl_set_channel(14);// Temporary, restore to 13 |
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28 | initializeData(); |
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29 | |||
30 | id = get_robotid(); |
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31 | sign = 0;
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32 | |||
33 | //Test code
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34 | state = SINTERSECTION; |
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35 | |||
36 | sendBuffer[1] = id;
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37 | |||
38 | /*
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39 | doDrive(200);
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40 | turn(DOUBLE, ILEFT);
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41 | */
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42 | /* while(1)
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43 | doDrive(255);
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44 | */
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45 | |||
46 | while (1) { |
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47 | /*DTM Finite State Machine*/
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48 | switch(state){
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49 | case SROAD:/*Following a normal road*/ |
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50 | // sign = lineFollow();
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51 | //other road behaviors
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52 | //tailgating?
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53 | //read barcode
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54 | // sign = doDrive(200);
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55 | if(button1_click()){
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56 | state = SINTERSECTION; |
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57 | } |
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58 | break;
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59 | case SINTERSECTION:/*Entering, and in intersection*/ |
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60 | intersectionNum = 0;
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61 | /*Intersection queue:
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62 | *Each robot when entering the intersection will check for other robots
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63 | *in the intersection, and insert itself in a queue to go through.
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64 | */
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65 | prevBot = 0;
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66 | nextBot = 0;
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67 | |||
68 | sign = 0; //Test code until barcodes integrated |
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69 | |||
70 | enterIntersectionQueue(sign); |
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71 | |||
72 | orb1_set_color(PURPLE); |
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73 | //waits for its turn
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74 | |||
75 | waitInIntersectionQueue(); |
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76 | |||
77 | orb1_set_color(RED); |
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78 | //Drives through intersection
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79 | driveThroughIntersection(sign); |
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80 | |||
81 | //Exits intersection
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82 | sendBuffer[0] = WINTERSECTIONEXIT;
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83 | sendBuffer[2] = intersectionNum;//Intersection # |
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84 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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85 | orb1_set_color(ORANGE); |
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86 | while(1){ |
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87 | stop(); |
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88 | // sign = doDrive(200);
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89 | if(button1_click()){
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90 | start(); |
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91 | state = SHIGHWAY; |
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92 | break;
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93 | } |
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94 | if(button2_click()){
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95 | start(); |
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96 | state = SROAD; |
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97 | break;
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98 | } |
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99 | } |
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100 | break;
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101 | case SHIGHWAY:/*On highway*/ |
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102 | orb1_set_color(CYAN); |
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103 | while(!button1_click()){
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104 | highwayFSM(); |
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105 | } |
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106 | state = SINTERSECTION; |
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107 | break;
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108 | default:
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109 | usb_puts("I got stuck in an unknown state! My state is ");
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110 | usb_puti(state); |
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111 | } |
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112 | } |
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113 | |||
114 | } |
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115 | |||
116 | void enterIntersectionQueue(int sign){ |
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117 | |||
118 | //Choose turn direction
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119 | intersectionNum = getIntersectType(sign); |
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120 | turnDir = validateTurn(sign, getTurnType(4));
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121 | //Sends packet announcing its entry to the intersection
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122 | sendBuffer[0] = WINTERSECTIONENTRY;
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123 | sendBuffer[2] = intersectionNum;//Intersection # |
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124 | sendBuffer[3] = getIntersectPos(sign);
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125 | sendBuffer[4] = turnDir;
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126 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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127 | orb1_set_color(BLUE); |
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128 | stop(); |
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129 | doDrive(0);
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130 | rtc_reset(); |
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131 | while(rtc_get() < 8){//waits for a reply, otherwise assumes it is first in queue |
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132 | dataLength = 0;
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133 | packet = NULL;
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134 | packet = wl_basic_do_default(&dataLength); |
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135 | if(packet && dataLength==PACKET_LENGTH && packet[2]==intersectionNum){ |
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136 | if(packet[0] == WINTERSECTIONREPLY){ |
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137 | if(packet[3] == id){//Reply for me |
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138 | prevBot = packet[1];
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139 | orb2_set_color(GREEN); |
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140 | break;
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141 | }else if(packet[1] != id){//Someone else got here first, try again |
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142 | sendBuffer[0] = WINTERSECTIONENTRY;
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143 | sendBuffer[2] = intersectionNum;
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144 | sendBuffer[3] = getIntersectPos(sign);
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145 | sendBuffer[4] = turnDir;
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146 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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147 | orb2_set_color(ORANGE); |
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148 | rtc_reset(); |
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149 | } |
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150 | }else if(packet[0]==WINTERSECTIONENTRY && nextBot==0 && prevBot!=packet[1]){ |
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151 | sendBuffer[0] = WINTERSECTIONREPLY;
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152 | sendBuffer[2] = intersectionNum;
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153 | sendBuffer[3] = packet[1]; |
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154 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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155 | nextBot = packet[1];
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156 | nextDir = packet[3];
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157 | nextPath = packet[4];
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158 | orb2_set_color(BLUE); |
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159 | //delay_ms(200);
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160 | } |
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161 | delay_ms(0);
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162 | } |
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163 | } |
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164 | } |
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165 | |||
166 | void waitInIntersectionQueue(){
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167 | while(prevBot != 0){ |
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168 | dataLength = 0;
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169 | packet = NULL;
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170 | packet = wl_basic_do_default(&dataLength); |
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171 | if(packet && dataLength==PACKET_LENGTH){
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172 | if(packet[2] == intersectionNum){ |
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173 | if(packet[1]==prevBot && (packet[0]==WINTERSECTIONGO || packet[0]==WINTERSECTIONEXIT)){ |
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174 | prevBot = 0;
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175 | orb2_set_color(PURPLE); |
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176 | }else if(packet[0]==WINTERSECTIONENTRY && nextBot==0){ |
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177 | sendBuffer[0] = WINTERSECTIONREPLY;
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178 | sendBuffer[2] = intersectionNum;
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179 | sendBuffer[3] = packet[1]; |
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180 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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181 | nextBot = packet[1];
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182 | nextDir = packet[3];
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183 | nextPath = packet[4];
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184 | orb2_set_color(BLUE); |
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185 | } |
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186 | } |
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187 | /*
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188 | if(ISPING(packet)){
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189 | sendBuffer[0] = WPINGREPLY;
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190 | sendBuffer[2] = packet[1];
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191 | if(packet[0]==WPINGQUEUE && packet[3]==nextBot){
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192 | nextBot = packet[1];
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193 | }
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194 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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195 | }
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196 | if(packet[0]==WPINGREPLY && packet[2]==id){
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197 | prevBot = packet[1];
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198 | pingWaitTime = rtc_get();
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199 | }
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200 | */
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201 | } |
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202 | |||
203 | if(prevBot && rtc_get() << 12 == 0){ |
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204 | sendBuffer[0] = WPINGBOT;
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205 | sendBuffer[2] = prevBot;
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206 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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207 | pingWaitTime = rtc_get(); |
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208 | } |
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209 | if(prevBot && pingWaitTime - rtc_get() > 4){ |
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210 | sendBuffer[0] = WPINGBOT;
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211 | if(pingWaitTime - rtc_get() > 8){ |
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212 | sendBuffer[0] = WPINGQUEUE;
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213 | } |
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214 | sendBuffer[2] = prevBot;
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215 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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216 | } |
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217 | /* if(prevBot && pingWaitTime - rtc_get() > 12){
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218 | prevBot = 0;
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219 | }
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220 | */
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221 | } |
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222 | } |
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223 | |||
224 | void driveThroughIntersection(int sign){ |
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225 | //Code to choose path through intersection goes in this while loop
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226 | //But here's the code to handle wireless while in the intersection...
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227 | start(); |
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228 | turn(getIntersectType(0), turnDir);
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229 | while(doDrive(200) != FINISHED){ |
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230 | dataLength = 0;
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231 | packet = NULL;
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232 | packet = wl_basic_do_default(&dataLength); |
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233 | if(dataLength==PACKET_LENGTH){
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234 | if(packet[2]==intersectionNum/*Intersection Num*/){ |
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235 | if(packet[0]==WINTERSECTIONEXIT){ |
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236 | prevBot = 0;
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237 | orb2_set_color(RED); |
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238 | }else if(packet[0]==WINTERSECTIONENTRY && nextBot==0){ |
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239 | sendBuffer[0] = WINTERSECTIONREPLY;
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240 | sendBuffer[2] = intersectionNum;//Intersection # |
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241 | sendBuffer[3] = packet[1]; |
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242 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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243 | nextBot = packet[1];
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244 | nextDir = packet[3];
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245 | nextPath = packet[4];
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246 | orb2_set_color(YELLOW); |
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247 | } |
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248 | } |
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249 | if(ISPING(packet)){
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250 | sendBuffer[0] = WPINGREPLY;
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251 | sendBuffer[2] = packet[1]; |
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252 | if(packet[0]==WPINGQUEUE && packet[3]==nextBot){ |
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253 | nextBot = packet[1];
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254 | } |
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255 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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256 | } |
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257 | } |
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258 | if(prevBot==0 && nextBot!=0){//let 2 bots go through at same time |
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259 | /*if(bots paths won't collide){
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260 | sendBuffer[0] = WINTERSECTIONGO;
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261 | sendBuffer[2] = 0;//Intersection #
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262 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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263 | */
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264 | } |
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265 | } |
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266 | } |