Revision 1949
Added mapping capabilites
| main.c | ||
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| 7 | 7 |
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| 8 | 8 |
#include "traffic_navigation.h" |
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static int state, sign, dataLength, pingWaitTime, turnDir; |
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static char sendBuffer[PACKET_LENGTH], prevBot, nextBot, id, nextDir, nextPath, intersectionNum; |
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static unsigned char *packet; |
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>>>>>>> .r1869 |
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int main (void) {
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void enterIntersectionQueue(int sign); |
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void waitInIntersectionQueue(); |
| ... | ... | |
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sendBuffer[1] = id; |
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/* |
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doDrive(200); |
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turn(DOUBLE, ILEFT); |
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*/ |
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/* while(1) |
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doDrive(255); |
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*/ |
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state = SHIGHWAY; |
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int startLeft = 0, startRight = 0; |
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while (1) {
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/*DTM Finite State Machine*/ |
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switch(state){
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case SROAD:/*Following a normal road*/ |
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<<<<<<< .mine |
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sign = lineFollow(200); |
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======= |
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// sign = lineFollow(); |
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>>>>>>> .r1869 |
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//other road behaviors |
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//tailgating? |
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//read barcode |
| ... | ... | |
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} |
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state = SINTERSECTION; |
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break; |
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case PASSLEFT:/*Passing left*/ |
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motor_l_set(FORWARD, 180); |
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motor_r_set(FORWARD, 250); |
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orb_set_color(YELLOW); |
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usb_puti(startRight); |
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usb_puts("\n");
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usb_puti(startLeft); |
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usb_puts("\n");
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usb_puts("\n");
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usb_puti((encoder_get_x(RIGHT) - startRight) - (encoder_get_x(LEFT) - startLeft)); |
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usb_puts("\n\n");
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//if((encoder_get_x(RIGHT) - startRight) - (encoder_get_x(LEFT) - startLeft) > 200) |
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if(!onLine()) |
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{
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state = FINDLINE; |
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delay_ms(HALF_SECOND); |
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} |
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break; |
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case PASSRIGHT:/*Passing right*/ |
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break; |
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case FINDLINE:/*Drive straight until a line is falled*/ |
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motor_l_set(FORWARD, 240); |
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motor_r_set(FORWARD, 240); |
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orb_set_color(RED); |
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if(onLine()) |
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orb_set_color(ORB_OFF); |
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state = SHIGHWAY; |
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break; |
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default: |
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usb_puts("I got stuck in an unknown state! My state is ");
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usb_puti(state); |
Also available in: Unified diff