root / trunk / code / projects / traffic_navigation / validTurns.c @ 1991
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/*
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* Deterministic turning implemented using table lookup. Using a
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* table, the function looks up a value from the table using the
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* barcode value, and then the robot decides to go straight,
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* left, right, or u-turn depending on the valid turn types
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* for the intersection it is at.
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*
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*/
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/******************************Random Num Gen Version of validTurns*/
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#include "intersectData.h" |
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#include "../linefollowing/lineDrive.h" |
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#include "validTurns.h" |
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#define GET16(s)( ((s)&0x8000)>>16 ) /*gets the 16 bit*/ |
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#define GET14(s)( ((s)&0x2000)>>14 ) /*gets the 14thbit*/ |
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#define GET13(s)( ((s)&0x1000)>>13 ) /*you get the idea*/ |
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#define GET11(s)( ((s)&0x400)>>11 ) |
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#define CYCLES 10 /*the number of reseeds i perform before finally extracting my ranodm number*/ |
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#define SHIFT(s)( (s)<<1) |
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#define RESEED(s)( (s)=( ( ((GET16(s)^GET14(s))^GET13(s))^GET11(s) ) | SHIFT(s) ) )/*reseeding the first bit of the number with bits from the number*/ |
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unsigned int turnseed = 0xC0DE; |
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int resolvRandomNumberGen(int max){ |
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turnseed *= (rtc_get() + encoder_read(LEFT))%9;
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return turnseed % max;
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} |
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/*
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int getIntersectType(int barcode)
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{
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return randomNumGen(5);
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}
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int getIntersectPos(int barcode, int max)
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{
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return randomNumGen(max);
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}
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*/
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char getTurnType(char barcode) |
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{
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return randomNumGen(4); |
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} |
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int validateTurn(int barcode, int turn_type) |
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{
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int intersect_type;
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int intersect_pos;
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intersect_type = getIntersectType(barcode); |
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//TEMPORARY CODE FOR TEST MAP
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//INTERSECTION 2 (barcodes 13 and 16) was made incorrectly
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//If the bot reads barcode 16, it must turn left
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//If the bot reads barcode 13, it must go straight
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if(barcode == 16){ |
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return ILEFT;
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} |
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if(barcode == 13){ |
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return ISTRAIGHT;
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} |
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//END TEMP CODE
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switch (intersect_type)
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{
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case DOUBLE_C:
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{
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intersect_pos = getIntersectPos(barcode); |
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if (0<=intersect_pos && intersect_pos<=3) |
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return turn_type;
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break;
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} |
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case DOUBLE_T:
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{
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intersect_pos = getIntersectPos(barcode); |
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switch (intersect_pos)
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{
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case TLEFT:
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{
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if (turn_type == ILEFT) turn_type = ISTRAIGHT;
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return turn_type;
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break;
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} |
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case TRIGHT:
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{
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if (turn_type == IRIGHT) turn_type = ISTRAIGHT;
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return turn_type;
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break;
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} |
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case TMIDDLE:
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{
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if (turn_type == ISTRAIGHT) turn_type = IUTURN;
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return turn_type;
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break;
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} |
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default:
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return -1; |
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} |
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break;
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} |
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case SINGLE:
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{
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intersect_pos = getIntersectPos(barcode); |
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switch (intersect_pos)
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{
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case SACROSS:
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{
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if (turn_type == IRIGHT || turn_type == IUTURN) turn_type = ISTRAIGHT;
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return turn_type;
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break;
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} |
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case SUP:
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{
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if (turn_type == ILEFT || turn_type == IUTURN) turn_type = ISTRAIGHT;
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return turn_type;
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break;
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} |
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default:
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return -1; |
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} |
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break;
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} |
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case ON_RAMP:
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{
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intersect_pos = getIntersectPos(barcode); |
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switch (intersect_pos)
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{
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case R_LEFT:
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{
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if (turn_type == ILEFT || turn_type == IUTURN) turn_type = ISTRAIGHT;
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return turn_type;
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break;
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} |
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case R_RIGHT:
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{
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if (turn_type == IRIGHT || turn_type == IUTURN) turn_type = ISTRAIGHT;
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return turn_type;
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break;
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} |
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default:
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return -1; |
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} |
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break;
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} |
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case OFF_RAMP:
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{
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intersect_pos = getIntersectPos(barcode); |
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switch (intersect_pos)
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{
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case R_LEFT:
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{
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int turn_type = ISTRAIGHT;
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return turn_type;
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break;
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} |
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case R_RIGHT:
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{
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int turn_type = ISTRAIGHT;
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return turn_type;
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break;
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} |
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case R_RAMP:
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{
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if (turn_type == ISTRAIGHT || turn_type == IUTURN) turn_type = ILEFT;
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return turn_type;
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break;
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} |
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default:
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return -1; |
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} |
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break;
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} |
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default:
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return -1; |
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} |
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return -1; |
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} |