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Revision 1228

Added by Abraham Levkoy almost 15 years ago

Run around now uses R4 and R5.

View differences:

trunk/code/projects/mapping/new_run_around/smart_run_around_fsm.c
47 47 
     */
48 48 
    else if (d1 < IR13_DANGER && d3 < IR13_DANGER)
49 49 
	state = FORWARD;
50 
    else if (d1 < IR13_DANGER)	// avoid left-side collision by turning right
50 
    // avoid left-side collision by turning right
51 
    else if (d1 < IR13_DANGER || d5 < IR45_DANGER)
51 52 
	state = RIGHT;
52 
    else if (d3 < IR13_DANGER)	// avoid right-side collision by turning left
53 
    // avoid right-side collision by turning left
54 
    else if (d3 < IR13_DANGER || d4 < IR45_DANGER)
53 55 
	state = LEFT;
54 56 
    else if (d2 < IR2_INTEREST)	// should turn to avoid obstacle up ahead
55 57 
    {
......
74 76 
    usb_puti(d5);
75 77 
    usb_puts("\n\r");
76 78 

  		




  77
  
  
    
    if (button2_read())	// pushing buttons resets robot


  		




  78
  
  
    
    	reset();


  		




  79
  
  
    

  		




  80
  79
  
    
    evaluate_state();	// take action on updated state


  		




  81
  80
  
    
}


  		




  82
  81
  
    

  		












  

    
      trunk/code/projects/mapping/server/Makefile
    
  





  7
  7
  
    
	$(CC) $(CFLAGS) *.c -L../../libwireless/lib -o test -DWL_DEBUG -lwireless -lpthread -lncurses


  		




  8
  8
  
    

  		




  9
  9
  
    
clean:


  		




  10
  
  
    
	rm *.o test ../lib/*.o


  		




  
  10
  
    
	rm -f *.o test ../lib/*.o


  		




  11
  11
  
    

  		












  

    
      trunk/code/projects/mapping/auto/smart_run_around_fsm.c
    
  





  47
  47
  
    
     */


  		




  48
  48
  
    
    else if (d1 < IR13_DANGER && d3 < IR13_DANGER)


  		




  49
  49
  
    
	state = FORWARD;


  		




  50
  
  
    
    else if (d1 < IR13_DANGER)	// avoid left-side collision by turning right


  		




  
  50
  
    
    // avoid left-side collision by turning right


  		




  
  51
  
    
    else if (d1 < IR13_DANGER || d5 < IR45_DANGER)


  		




  51
  52
  
    
	state = RIGHT;


  		




  52
  
  
    
    else if (d3 < IR13_DANGER)	// avoid right-side collision by turning left


  		




  
  53
  
    
    // avoid right-side collision by turning left


  		




  
  54
  
    
    else if (d3 < IR13_DANGER || d4 < IR45_DANGER)


  		




  53
  55
  
    
	state = LEFT;


  		




  54
  56
  
    
    else if (d2 < IR2_INTEREST)	// should turn to avoid obstacle up ahead


  		




  55
  57
  
    
    {


  		




  ......




  74
  76
  
    
    usb_puti(d5);


  		




  75
  77
  
    
    usb_puts("\n\r");


  		




  76
  78
  
    

  		




  77
  
  
    
    if (button2_read())	// pushing buttons resets robot


  		




  78
  
  
    
    	reset();


  		




  79
  
  
    

  		




  80
  79
  
    
    evaluate_state();	// take action on updated state


  		




  81
  80
  
    
}


  		




  82
  81
  
    

  		












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