root / trunk / code / projects / traffic_navigation / main.c @ 1963
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/*
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* main.c for Traffic Navigation
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* Runs the highest level behavior for the Dynamic Traffic Navigation (DTM) SURG
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*
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* Author: Colony Project, CMU Robotics Club
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*/
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#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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void enterIntersectionQueue(int sign); |
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void waitInIntersectionQueue();
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void driveThroughIntersection(int sign); |
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int main (void) { |
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/* Initialize the dragonfly boards, the xbee, encoders, lineFollowing */
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dragonfly_init(ALL_ON); |
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xbee_init(); |
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encoders_init(); |
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lineDrive_init(); |
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rtc_init(SIXTEENTH_SECOND, NULL);
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wl_basic_init_default(); |
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wl_set_channel(13);
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initializeData(); |
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id = get_robotid(); |
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sign = 0;
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//Test code
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state = SROAD; |
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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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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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// sign = lineFollow();
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//other road behaviors
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//tailgating?
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//read barcode
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sign = doDrive(200);
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if(button1_click()){
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state = SINTERSECTION; |
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} |
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break;
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case SINTERSECTION:/*Entering, and in intersection*/ |
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intersectionNum = 0;
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/*Intersection queue:
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*Each robot when entering the intersection will check for other robots
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*in the intersection, and insert itself in a queue to go through.
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*/
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prevBot = 0;
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nextBot = 0;
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sign = 0; //Test code until barcodes integrated |
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enterIntersectionQueue(sign); |
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orb1_set_color(PURPLE); |
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//waits for its turn
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waitInIntersectionQueue(); |
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orb1_set_color(RED); |
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//Drives through intersection
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driveThroughIntersection(sign); |
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//Exits intersection
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sendBuffer[0] = WINTERSECTIONEXIT;
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sendBuffer[2] = intersectionNum;//Intersection # |
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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orb1_set_color(ORANGE); |
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while(1){ |
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stop(); |
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sign = doDrive(200);
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if(button1_click()){
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start(); |
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state = SHIGHWAY; |
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break;
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} |
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if(button2_click()){
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start(); |
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state = SROAD; |
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break;
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} |
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} |
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break;
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case SHIGHWAY:/*On highway*/ |
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orb1_set_color(CYAN); |
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while(!button1_click()){
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highwayFSM(); |
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} |
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state = SINTERSECTION; |
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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); |
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} |
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} |
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} |
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void enterIntersectionQueue(int sign){ |
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//Choose turn direction
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intersectionNum = getIntersectType(sign); |
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turnDir = validateTurn(sign, getTurnType(4));
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//Sends packet announcing its entry to the intersection
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sendBuffer[0] = WINTERSECTIONENTRY;
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sendBuffer[2] = intersectionNum;//Intersection # |
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sendBuffer[3] = getIntersectPos(sign);
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sendBuffer[4] = turnDir;
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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orb1_set_color(BLUE); |
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stop(); |
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doDrive(0);
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rtc_reset(); |
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while(rtc_get() < 8){//waits for a reply, otherwise assumes it is first in queue |
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dataLength = 0;
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packet = NULL;
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packet = wl_basic_do_default(&dataLength); |
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if(packet && dataLength==PACKET_LENGTH && packet[2]==intersectionNum){ |
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if(packet[0] == WINTERSECTIONREPLY){ |
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if(packet[3] == id){//Reply for me |
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prevBot = packet[1];
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orb2_set_color(GREEN); |
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break;
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}else if(packet[1] != id){//Someone else got here first, try again |
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sendBuffer[0] = WINTERSECTIONENTRY;
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sendBuffer[2] = intersectionNum;
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sendBuffer[3] = getIntersectPos(sign);
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sendBuffer[4] = turnDir;
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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orb2_set_color(ORANGE); |
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rtc_reset(); |
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} |
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}else if(packet[0]==WINTERSECTIONENTRY && nextBot==0 && prevBot!=packet[1]){ |
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sendBuffer[0] = WINTERSECTIONREPLY;
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sendBuffer[2] = intersectionNum;
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sendBuffer[3] = packet[1]; |
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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nextBot = packet[1];
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nextDir = packet[3];
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nextPath = packet[4];
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orb2_set_color(BLUE); |
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//delay_ms(200);
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} |
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delay_ms(0);
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} |
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} |
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} |
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void waitInIntersectionQueue(){
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while(prevBot != 0){ |
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dataLength = 0;
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packet = NULL;
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packet = wl_basic_do_default(&dataLength); |
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if(packet && dataLength==PACKET_LENGTH){
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if(packet[2] == intersectionNum){ |
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if(packet[1]==prevBot && (packet[0]==WINTERSECTIONGO || packet[0]==WINTERSECTIONEXIT)){ |
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prevBot = 0;
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orb2_set_color(PURPLE); |
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}else if(packet[0]==WINTERSECTIONENTRY && nextBot==0){ |
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sendBuffer[0] = WINTERSECTIONREPLY;
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sendBuffer[2] = intersectionNum;
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sendBuffer[3] = packet[1]; |
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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nextBot = packet[1];
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nextDir = packet[3];
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nextPath = packet[4];
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orb2_set_color(BLUE); |
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} |
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} |
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/*
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if(ISPING(packet)){
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sendBuffer[0] = WPINGREPLY;
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sendBuffer[2] = packet[1];
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if(packet[0]==WPINGQUEUE && packet[3]==nextBot){
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nextBot = packet[1];
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}
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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}
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if(packet[0]==WPINGREPLY && packet[2]==id){
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prevBot = packet[1];
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pingWaitTime = rtc_get();
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}
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*/
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} |
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if(prevBot && rtc_get() << 12 == 0){ |
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sendBuffer[0] = WPINGBOT;
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sendBuffer[2] = prevBot;
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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pingWaitTime = rtc_get(); |
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} |
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if(prevBot && pingWaitTime - rtc_get() > 4){ |
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sendBuffer[0] = WPINGBOT;
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if(pingWaitTime - rtc_get() > 8){ |
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sendBuffer[0] = WPINGQUEUE;
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} |
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sendBuffer[2] = prevBot;
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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} |
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/* if(prevBot && pingWaitTime - rtc_get() > 12){
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prevBot = 0;
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}
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*/
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} |
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} |
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void driveThroughIntersection(int sign){ |
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//Code to choose path through intersection goes in this while loop
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//But here's the code to handle wireless while in the intersection...
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start(); |
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turn(getIntersectType(0), turnDir);
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while(doDrive(200) != FINISHED){ |
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dataLength = 0;
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packet = NULL;
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packet = wl_basic_do_default(&dataLength); |
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if(dataLength==PACKET_LENGTH){
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if(packet[2]==intersectionNum/*Intersection Num*/){ |
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if(packet[0]==WINTERSECTIONEXIT){ |
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prevBot = 0;
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orb2_set_color(RED); |
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}else if(packet[0]==WINTERSECTIONENTRY && nextBot==0){ |
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sendBuffer[0] = WINTERSECTIONREPLY;
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sendBuffer[2] = intersectionNum;//Intersection # |
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sendBuffer[3] = packet[1]; |
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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nextBot = packet[1];
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nextDir = packet[3];
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nextPath = packet[4];
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orb2_set_color(YELLOW); |
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} |
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} |
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if(ISPING(packet)){
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sendBuffer[0] = WPINGREPLY;
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sendBuffer[2] = packet[1]; |
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if(packet[0]==WPINGQUEUE && packet[3]==nextBot){ |
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nextBot = packet[1];
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} |
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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} |
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} |
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if(prevBot==0 && nextBot!=0){//let 2 bots go through at same time |
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/*if(bots paths won't collide){
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sendBuffer[0] = WINTERSECTIONGO;
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sendBuffer[2] = 0;//Intersection #
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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*/
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} |
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} |
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} |