Colony

/*

 * main.c for Traffic Navigation

 * Runs the highest level behavior for the Dynamic Traffic Navigation (DTM) SURG

 *

 * Author: Colony Project, CMU Robotics Club

 */

#include <dragonfly_lib.h>

#include <wl_basic.h>

#include "../linefollowing/lineFollow.h"

/*States*/

#define SROAD 0

#define SINTERSECTION 10

#define SHIGHWAY 20

/*Sign Codes

 * bitwise OR labels to create a barcode or read one

 * There should be macros to extract these probably

 * The bits will be stored in some variable (char or short)

 * Bits if road: ? ? ? NAME NAME NAME TYPE CROAD

 * Bits if intersection: ? ? ? ? DIR DIR #WAYS CINTERSECTION

 */

#define CROAD 0x0 //0b

#define CINTERSECTION 0x1 //1b

#define CNORMALROAD 0x0 //00b

#define CHIGHWAYROAD 0x2 //10b

#define C4WAY 0x0 //00b

#define C3WAY 0x2 //10b

#define CNORTH 0x0 //0000b

#define CEAST 0x4 //0100b

#define CSOUTH 0x8 //1000b

#define CWEST 0x12 //1100b

int main (void) {

	int state, sign;

	/* Initialize the dragonfly boards, the xbee, encoders, lineFollowing */

	dragonfly_init(ALL_ON);

	xbee_init();

	encoders_init();

	lineFollow_init();

	sign = 0;

	while (1) {

		/*DTM Finite State Machine*/

		switch(state){

		case SROAD:/*Following a normal road*/

			linefollow();

			//other road behaviors

				//tailgating?

			//read barcode

			if(sign & CINTERSECTION){

				state = SINTERSECTION;

			}

			break;

		case SINTERSECTION:/*Entering, and in intersection*/

			//Intersection behaviors

				//queueing

				//no-stop?

			//check wireless

			//read barcode

			if(!(sign & CINTERSECTION)){

				if(sign & CHIGHWAYROAD){

					state = SHIGHWAY;

				}else{

					state = SROAD;

				}

			}

			break;

		case SHIGHWAY:/*On highway*/

			linefollow();

			//highway behaviors

				//merging

				//passing

			//read barcode

			break;

		default:

			usb_puts("I got stuck in an unknown state! My state is ");

			usb_puti(state);

		}

	}

}

# this is a local makefile

# Relative path to the root directory (containing lib directory)

ifndef COLONYROOT

COLONYROOT := ..

# Target file name (without extension).

TARGET = main

# Uncomment this to use the wireless library

USE_WIRELESS = 1

# com1 = serial port. Use lpt1 to connect to parallel port.

AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)

else

COLONYROOT := ../$(COLONYROOT)

endif

include $(COLONYROOT)/Makefile