Revision 1843
Added the traffic_navigation directory to projects in trunk, and inserted my preliminary main function. As of now, it relies on the linefollowing code in the other project directory.
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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 <dragonfly_lib.h> |
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#include <wl_basic.h> |
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#include "../linefollowing/lineFollow.h" |
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int main(void) |
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{
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/*States*/ |
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#define SROAD 0 |
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#define SINTERSECTION 10 |
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#define SHIGHWAY 20 |
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/* initialize components, set wireless channel */ |
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dragonfly_init(ALL_ON); |
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int val; |
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/*Sign Codes |
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* bitwise OR labels to create a barcode or read one |
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* There should be macros to extract these probably |
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* The bits will be stored in some variable (char or short) |
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* Bits if road: ? ? ? NAME NAME NAME TYPE CROAD |
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* Bits if intersection: ? ? ? ? DIR DIR #WAYS CINTERSECTION |
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*/ |
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#define CROAD 0x0 //0b |
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#define CINTERSECTION 0x1 //1b |
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#define CNORMALROAD 0x0 //00b |
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#define CHIGHWAYROAD 0x2 //10b |
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#define C4WAY 0x0 //00b |
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#define C3WAY 0x2 //10b |
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#define CNORTH 0x0 //0000b |
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#define CEAST 0x4 //0100b |
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#define CSOUTH 0x8 //1000b |
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#define CWEST 0x12 //1100b |
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while (1) {
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usb_puts("Val: ");
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usb_puti(range_read_distance(IR2)); |
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usb_putc('\n');
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int main (void) {
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delay_ms(200);
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int state, sign;
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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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lineFollow_init(); |
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sign = 0; |
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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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linefollow(); |
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//other road behaviors |
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//tailgating? |
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//read barcode |
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if(sign & CINTERSECTION){
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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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//Intersection behaviors |
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//queueing |
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//no-stop? |
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//check wireless |
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//read barcode |
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if(!(sign & CINTERSECTION)){
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if(sign & CHIGHWAYROAD){
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state = SHIGHWAY; |
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}else{
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state = SROAD; |
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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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linefollow(); |
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//highway behaviors |
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//merging |
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//passing |
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//read barcode |
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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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return 0; |
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} |
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