root / trunk / code / projects / linefollowing / lineDrive.c @ 1857
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1 | 1855 | djacobs | #include "lineDrive.h" |
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2 | |||
3 | int state[5]; |
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4 | int stateCounter;
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5 | int stateLength;
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6 | int stopped=1; |
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7 | |||
8 | |||
9 | |||
10 | void lineDrive_init()
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11 | { |
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12 | lineFollow_init(); |
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13 | for(int i=0; i<5; i++)state[i]=0; |
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14 | stateCounter=0;
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15 | stateLength=0;
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16 | stopped=0;
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17 | } |
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18 | |||
19 | |||
20 | |||
21 | int doDrive(int speed) |
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22 | { |
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23 | 1856 | djacobs | if(stopped)
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24 | { |
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25 | motor_l_set(FORWARD, 0);
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26 | 1857 | djacobs | motor_r_set(FORWARD, 0);
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27 | 1856 | djacobs | return NORMAL;
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28 | } |
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29 | 1855 | djacobs | |
30 | 1856 | djacobs | |
31 | 1855 | djacobs | int code;
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32 | switch(state[0]) |
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33 | { |
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34 | case ISTRAIGHT:
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35 | code = lineFollow(speed); |
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36 | if(code==INTERSECTION)
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37 | { |
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38 | for(int i=0; i<4; i++) state[i]=state[i+1]; |
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39 | state[4]=0; |
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40 | if(state[0]==0)stateCounter++; |
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41 | break;
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42 | } |
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43 | else if(code==NOBARCODE) return NORMAL; |
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44 | return code;
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45 | |||
46 | |||
47 | case ILEFT:
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48 | code = turnLeft(); |
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49 | if(code==0) |
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50 | { |
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51 | state[0]=0; |
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52 | stateCounter++; |
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53 | } |
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54 | break;
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55 | |||
56 | case IRIGHT:
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57 | code = turnRight(); |
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58 | if(code==0) |
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59 | { |
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60 | state[0]=0; |
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61 | stateCounter++; |
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62 | } |
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63 | break;
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64 | |||
65 | |||
66 | case MERGELEFT:
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67 | code = mergeLeft(); |
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68 | if(code==0) |
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69 | { |
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70 | state[0]=0; |
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71 | stateLength=0;
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72 | return FINISHED;
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73 | } |
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74 | return NORMAL;
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75 | |||
76 | case MERGERIGHT:
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77 | code = mergeRight(); |
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78 | if(code==0) |
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79 | { |
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80 | state[0]=0; |
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81 | stateLength=0;
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82 | return FINISHED;
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83 | } |
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84 | return NORMAL;
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85 | |||
86 | default:
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87 | return LOST;
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88 | |||
89 | } |
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90 | |||
91 | if(stateCounter>=stateLength)
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92 | { |
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93 | stateCounter=stateLength=0;
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94 | return FINISHED;
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95 | } |
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96 | return NORMAL;
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97 | } |
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98 | |||
99 | |||
100 | void start(void){stopped=0;} |
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101 | void stop(void){stopped=1;} |
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102 | |||
103 | |||
104 | int merge(int dir) |
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105 | { |
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106 | if(stateLength!=0)return ERROR; |
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107 | stateLength++; |
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108 | state[0]=(dir==ILEFT ? MERGELEFT : MERGERIGHT);
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109 | return NORMAL;
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110 | } |
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111 | |||
112 | int turn(int type, int dir) |
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113 | { |
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114 | if(stateLength!=0)return ERROR; |
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115 | if(dir==IRIGHT){stateLength++; state[1]=IRIGHT; return NORMAL;} |
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116 | if(dir==IUTURN){stateLength+=2; state[1]=state[2]=ILEFT; return NORMAL;} |
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117 | if(dir==ISTRAIGHT && type==SINGLE){stateLength++; state[1]=ISTRAIGHT; return NORMAL;} |
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118 | if(dir==ISTRAIGHT){stateLength+=2; state[1]=state[2]=ISTRAIGHT; return NORMAL;} |
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119 | //must be left turn
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120 | if(type==SINGLE){stateLength++; state[1]=ILEFT; return NORMAL;} |
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121 | if(type==DOUBLE){stateLength+=3;state[1]=state[3]=ISTRAIGHT; state[2]=ILEFT; return NORMAL;} |
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122 | if(type==ON_RAMP){stateLength+=2; state[1]=ILEFT; state[2]=ISTRAIGHT; return NORMAL;} |
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123 | if(type==OFF_RAMP){stateLength+=2; state[1]=ISTRAIGHT; state[2]=ILEFT; return NORMAL;} |
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124 | |||
125 | //Should never get here
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126 | return ERROR;
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127 | } |