Revision 1228
Run around now uses R4 and R5.
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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