root / trunk / code / projects / traffic_navigation / main.c @ 1949
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1 | 1843 | 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 | 1869 | bwasserm | * Author: Colony Project, CMU Robotics Club
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6 | */
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7 | 1843 | bwasserm | |
8 | 1872 | josephle | #include "traffic_navigation.h" |
9 | 16 | bcoltin | |
10 | 1949 | dgurjar | >>>>>>> .r1869 |
11 | int main (void) { |
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12 | 1888 | bwasserm | |
13 | 1896 | bwasserm | void enterIntersectionQueue(int sign); |
14 | void waitInIntersectionQueue();
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15 | void driveThroughIntersection(int sign); |
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16 | |||
17 | 1843 | bwasserm | int main (void) { |
18 | 1896 | bwasserm | |
19 | 1843 | bwasserm | /* Initialize the dragonfly boards, the xbee, encoders, lineFollowing */
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20 | dragonfly_init(ALL_ON); |
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21 | xbee_init(); |
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22 | encoders_init(); |
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23 | 1876 | markwill | lineDrive_init(); |
24 | 1844 | bwasserm | rtc_init(SIXTEENTH_SECOND, NULL);
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25 | 1859 | bwasserm | wl_basic_init_default(); |
26 | wl_set_channel(13);
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27 | 1896 | bwasserm | initializeData(); |
28 | 1859 | bwasserm | |
29 | 1844 | bwasserm | id = get_robotid(); |
30 | 1843 | bwasserm | sign = 0;
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31 | |||
32 | 1859 | bwasserm | //Test code
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33 | 1901 | bwasserm | state = SROAD; |
34 | 1859 | bwasserm | |
35 | 1844 | bwasserm | sendBuffer[1] = id;
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36 | 1901 | bwasserm | |
37 | 1949 | dgurjar | state = SHIGHWAY; |
38 | |||
39 | int startLeft = 0, startRight = 0; |
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40 | |||
41 | |||
42 | 1843 | bwasserm | while (1) { |
43 | /*DTM Finite State Machine*/
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44 | switch(state){
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45 | case SROAD:/*Following a normal road*/ |
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46 | 1949 | dgurjar | <<<<<<< .mine |
47 | sign = lineFollow(200);
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48 | ======= |
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49 | 1859 | bwasserm | // sign = lineFollow();
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50 | 1949 | dgurjar | >>>>>>> .r1869 |
51 | 1843 | bwasserm | //other road behaviors
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52 | //tailgating?
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53 | //read barcode
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54 | 1901 | bwasserm | sign = doDrive(200);
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55 | if(button1_click()){
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56 | 1843 | bwasserm | state = SINTERSECTION; |
57 | } |
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58 | break;
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59 | case SINTERSECTION:/*Entering, and in intersection*/ |
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60 | 1859 | bwasserm | intersectionNum = 0;
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61 | 1844 | bwasserm | /*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 | 1888 | bwasserm | |
68 | 1913 | bwasserm | sign = 0; //Test code until barcodes integrated |
69 | 1896 | bwasserm | |
70 | enterIntersectionQueue(sign); |
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71 | |||
72 | 1859 | bwasserm | orb1_set_color(PURPLE); |
73 | 1844 | bwasserm | //waits for its turn
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74 | 1888 | bwasserm | |
75 | waitInIntersectionQueue(); |
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76 | |||
77 | 1859 | bwasserm | orb1_set_color(RED); |
78 | 1844 | bwasserm | //Drives through intersection
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79 | 1896 | bwasserm | driveThroughIntersection(sign); |
80 | 1888 | bwasserm | |
81 | 1844 | bwasserm | //Exits intersection
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82 | sendBuffer[0] = WINTERSECTIONEXIT;
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83 | 1859 | bwasserm | sendBuffer[2] = intersectionNum;//Intersection # |
84 | 1844 | bwasserm | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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85 | 1859 | bwasserm | orb1_set_color(ORANGE); |
86 | 1888 | bwasserm | while(1){ |
87 | 1891 | bwasserm | stop(); |
88 | 1901 | bwasserm | sign = doDrive(200);
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89 | 1913 | bwasserm | if(button1_click()){
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90 | 1891 | bwasserm | start(); |
91 | 1913 | bwasserm | state = SHIGHWAY; |
92 | break;
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93 | 1843 | bwasserm | } |
94 | 1913 | bwasserm | 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 | 1843 | bwasserm | } |
100 | break;
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101 | case SHIGHWAY:/*On highway*/ |
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102 | 1901 | bwasserm | orb1_set_color(CYAN); |
103 | while(!button1_click()){
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104 | 1891 | bwasserm | highwayFSM(); |
105 | 1901 | bwasserm | } |
106 | state = SINTERSECTION; |
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107 | 1888 | bwasserm | break;
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108 | 1949 | dgurjar | case PASSLEFT:/*Passing left*/ |
109 | |||
110 | motor_l_set(FORWARD, 180);
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111 | motor_r_set(FORWARD, 250);
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112 | |||
113 | orb_set_color(YELLOW); |
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114 | |||
115 | usb_puti(startRight); |
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116 | usb_puts("\n");
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117 | usb_puti(startLeft); |
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118 | usb_puts("\n");
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119 | usb_puts("\n");
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120 | usb_puti((encoder_get_x(RIGHT) - startRight) - (encoder_get_x(LEFT) - startLeft)); |
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121 | usb_puts("\n\n");
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122 | |||
123 | //if((encoder_get_x(RIGHT) - startRight) - (encoder_get_x(LEFT) - startLeft) > 200)
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124 | if(!onLine())
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125 | { |
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126 | state = FINDLINE; |
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127 | delay_ms(HALF_SECOND); |
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128 | } |
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129 | break;
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130 | case PASSRIGHT:/*Passing right*/ |
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131 | break;
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132 | case FINDLINE:/*Drive straight until a line is falled*/ |
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133 | motor_l_set(FORWARD, 240);
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134 | motor_r_set(FORWARD, 240);
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135 | |||
136 | orb_set_color(RED); |
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137 | |||
138 | if(onLine())
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139 | orb_set_color(ORB_OFF); |
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140 | state = SHIGHWAY; |
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141 | break;
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142 | 1843 | bwasserm | default:
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143 | usb_puts("I got stuck in an unknown state! My state is ");
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144 | usb_puti(state); |
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145 | } |
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146 | 967 | alevkoy | } |
147 | |||
148 | 16 | bcoltin | } |
149 | 1888 | bwasserm | |
150 | 1896 | bwasserm | void enterIntersectionQueue(int sign){ |
151 | |||
152 | //Choose turn direction
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153 | intersectionNum = getIntersectType(sign); |
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154 | 1913 | bwasserm | turnDir = validateTurn(sign, getTurnType(4));
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155 | 1888 | bwasserm | //Sends packet announcing its entry to the intersection
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156 | sendBuffer[0] = WINTERSECTIONENTRY;
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157 | sendBuffer[2] = intersectionNum;//Intersection # |
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158 | 1896 | bwasserm | sendBuffer[3] = getIntersectPos(sign);
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159 | sendBuffer[4] = turnDir;
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160 | 1888 | bwasserm | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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161 | orb1_set_color(BLUE); |
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162 | stop(); |
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163 | doDrive(0);
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164 | rtc_reset(); |
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165 | while(rtc_get() < 8){//waits for a reply, otherwise assumes it is first in queue |
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166 | dataLength = 0;
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167 | packet = NULL;
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168 | packet = wl_basic_do_default(&dataLength); |
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169 | if(packet && dataLength==PACKET_LENGTH && packet[2]==intersectionNum){ |
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170 | if(packet[0] == WINTERSECTIONREPLY){ |
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171 | if(packet[3] == id){//Reply for me |
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172 | prevBot = packet[1];
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173 | orb2_set_color(GREEN); |
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174 | break;
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175 | }else if(packet[1] != id){//Someone else got here first, try again |
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176 | sendBuffer[0] = WINTERSECTIONENTRY;
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177 | 1896 | bwasserm | sendBuffer[2] = intersectionNum;
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178 | sendBuffer[3] = getIntersectPos(sign);
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179 | sendBuffer[4] = turnDir;
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180 | 1888 | bwasserm | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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181 | orb2_set_color(ORANGE); |
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182 | rtc_reset(); |
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183 | } |
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184 | }else if(packet[0]==WINTERSECTIONENTRY && nextBot==0 && prevBot!=packet[1]){ |
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185 | sendBuffer[0] = WINTERSECTIONREPLY;
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186 | sendBuffer[2] = intersectionNum;
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187 | sendBuffer[3] = packet[1]; |
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188 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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189 | nextBot = packet[1];
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190 | nextDir = packet[3];
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191 | nextPath = packet[4];
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192 | orb2_set_color(BLUE); |
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193 | //delay_ms(200);
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194 | } |
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195 | delay_ms(0);
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196 | } |
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197 | } |
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198 | } |
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199 | |||
200 | void waitInIntersectionQueue(){
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201 | while(prevBot != 0){ |
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202 | dataLength = 0;
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203 | packet = NULL;
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204 | packet = wl_basic_do_default(&dataLength); |
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205 | if(packet && dataLength==PACKET_LENGTH){
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206 | if(packet[2] == intersectionNum){ |
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207 | if(packet[1]==prevBot && (packet[0]==WINTERSECTIONGO || packet[0]==WINTERSECTIONEXIT)){ |
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208 | prevBot = 0;
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209 | orb2_set_color(PURPLE); |
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210 | }else if(packet[0]==WINTERSECTIONENTRY && nextBot==0){ |
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211 | sendBuffer[0] = WINTERSECTIONREPLY;
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212 | sendBuffer[2] = intersectionNum;
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213 | sendBuffer[3] = packet[1]; |
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214 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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215 | nextBot = packet[1];
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216 | nextDir = packet[3];
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217 | nextPath = packet[4];
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218 | orb2_set_color(BLUE); |
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219 | } |
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220 | } |
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221 | /*
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222 | if(ISPING(packet)){
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223 | sendBuffer[0] = WPINGREPLY;
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224 | sendBuffer[2] = packet[1];
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225 | if(packet[0]==WPINGQUEUE && packet[3]==nextBot){
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226 | nextBot = packet[1];
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227 | }
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228 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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229 | }
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230 | if(packet[0]==WPINGREPLY && packet[2]==id){
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231 | prevBot = packet[1];
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232 | pingWaitTime = rtc_get();
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233 | }
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234 | */
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235 | } |
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236 | |||
237 | if(prevBot && rtc_get() << 12 == 0){ |
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238 | sendBuffer[0] = WPINGBOT;
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239 | sendBuffer[2] = prevBot;
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240 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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241 | pingWaitTime = rtc_get(); |
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242 | } |
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243 | if(prevBot && pingWaitTime - rtc_get() > 4){ |
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244 | sendBuffer[0] = WPINGBOT;
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245 | if(pingWaitTime - rtc_get() > 8){ |
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246 | sendBuffer[0] = WPINGQUEUE;
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247 | } |
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248 | sendBuffer[2] = prevBot;
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249 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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250 | } |
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251 | /* if(prevBot && pingWaitTime - rtc_get() > 12){
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252 | prevBot = 0;
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253 | }
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254 | */
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255 | } |
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256 | } |
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257 | |||
258 | 1896 | bwasserm | void driveThroughIntersection(int sign){ |
259 | 1888 | bwasserm | //Code to choose path through intersection goes in this while loop
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260 | //But here's the code to handle wireless while in the intersection...
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261 | start(); |
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262 | 1912 | pdeo | turn(getIntersectType(0), turnDir);
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263 | 1901 | bwasserm | while(doDrive(200) != FINISHED){ |
264 | 1888 | bwasserm | dataLength = 0;
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265 | packet = NULL;
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266 | packet = wl_basic_do_default(&dataLength); |
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267 | if(dataLength==PACKET_LENGTH){
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268 | if(packet[2]==intersectionNum/*Intersection Num*/){ |
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269 | if(packet[0]==WINTERSECTIONEXIT){ |
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270 | prevBot = 0;
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271 | orb2_set_color(RED); |
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272 | }else if(packet[0]==WINTERSECTIONENTRY && nextBot==0){ |
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273 | sendBuffer[0] = WINTERSECTIONREPLY;
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274 | sendBuffer[2] = intersectionNum;//Intersection # |
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275 | sendBuffer[3] = packet[1]; |
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276 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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277 | nextBot = packet[1];
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278 | nextDir = packet[3];
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279 | nextPath = packet[4];
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280 | orb2_set_color(YELLOW); |
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281 | } |
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282 | } |
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283 | if(ISPING(packet)){
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284 | sendBuffer[0] = WPINGREPLY;
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285 | sendBuffer[2] = packet[1]; |
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286 | if(packet[0]==WPINGQUEUE && packet[3]==nextBot){ |
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287 | nextBot = packet[1];
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288 | } |
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289 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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290 | } |
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291 | } |
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292 | if(prevBot==0 && nextBot!=0){//let 2 bots go through at same time |
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293 | /*if(bots paths won't collide){
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294 | sendBuffer[0] = WINTERSECTIONGO;
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295 | sendBuffer[2] = 0;//Intersection #
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296 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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297 | */
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298 | } |
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299 | } |
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300 | 1905 | pdeo | } |