root / trunk / code / projects / linefollowing / lineDrive.c @ 1857
History | View | Annotate | Download (2.3 KB)
| 1 | 1855 | djacobs | #include "lineDrive.h" |
|---|---|---|---|
| 2 | |||
| 3 | int state[5]; |
||
| 4 | int stateCounter;
|
||
| 5 | int stateLength;
|
||
| 6 | int stopped=1; |
||
| 7 | |||
| 8 | |||
| 9 | |||
| 10 | void lineDrive_init()
|
||
| 11 | {
|
||
| 12 | lineFollow_init(); |
||
| 13 | for(int i=0; i<5; i++)state[i]=0; |
||
| 14 | stateCounter=0;
|
||
| 15 | stateLength=0;
|
||
| 16 | stopped=0;
|
||
| 17 | } |
||
| 18 | |||
| 19 | |||
| 20 | |||
| 21 | int doDrive(int speed) |
||
| 22 | {
|
||
| 23 | 1856 | djacobs | if(stopped)
|
| 24 | {
|
||
| 25 | motor_l_set(FORWARD, 0);
|
||
| 26 | 1857 | djacobs | motor_r_set(FORWARD, 0);
|
| 27 | 1856 | djacobs | return NORMAL;
|
| 28 | } |
||
| 29 | 1855 | djacobs | |
| 30 | 1856 | djacobs | |
| 31 | 1855 | djacobs | int code;
|
| 32 | switch(state[0]) |
||
| 33 | {
|
||
| 34 | case ISTRAIGHT:
|
||
| 35 | code = lineFollow(speed); |
||
| 36 | if(code==INTERSECTION)
|
||
| 37 | {
|
||
| 38 | for(int i=0; i<4; i++) state[i]=state[i+1]; |
||
| 39 | state[4]=0; |
||
| 40 | if(state[0]==0)stateCounter++; |
||
| 41 | break;
|
||
| 42 | } |
||
| 43 | else if(code==NOBARCODE) return NORMAL; |
||
| 44 | return code;
|
||
| 45 | |||
| 46 | |||
| 47 | case ILEFT:
|
||
| 48 | code = turnLeft(); |
||
| 49 | if(code==0) |
||
| 50 | {
|
||
| 51 | state[0]=0; |
||
| 52 | stateCounter++; |
||
| 53 | } |
||
| 54 | break;
|
||
| 55 | |||
| 56 | case IRIGHT:
|
||
| 57 | code = turnRight(); |
||
| 58 | if(code==0) |
||
| 59 | {
|
||
| 60 | state[0]=0; |
||
| 61 | stateCounter++; |
||
| 62 | } |
||
| 63 | break;
|
||
| 64 | |||
| 65 | |||
| 66 | case MERGELEFT:
|
||
| 67 | code = mergeLeft(); |
||
| 68 | if(code==0) |
||
| 69 | {
|
||
| 70 | state[0]=0; |
||
| 71 | stateLength=0;
|
||
| 72 | return FINISHED;
|
||
| 73 | } |
||
| 74 | return NORMAL;
|
||
| 75 | |||
| 76 | case MERGERIGHT:
|
||
| 77 | code = mergeRight(); |
||
| 78 | if(code==0) |
||
| 79 | {
|
||
| 80 | state[0]=0; |
||
| 81 | stateLength=0;
|
||
| 82 | return FINISHED;
|
||
| 83 | } |
||
| 84 | return NORMAL;
|
||
| 85 | |||
| 86 | default:
|
||
| 87 | return LOST;
|
||
| 88 | |||
| 89 | } |
||
| 90 | |||
| 91 | if(stateCounter>=stateLength)
|
||
| 92 | {
|
||
| 93 | stateCounter=stateLength=0;
|
||
| 94 | return FINISHED;
|
||
| 95 | } |
||
| 96 | return NORMAL;
|
||
| 97 | } |
||
| 98 | |||
| 99 | |||
| 100 | void start(void){stopped=0;} |
||
| 101 | void stop(void){stopped=1;} |
||
| 102 | |||
| 103 | |||
| 104 | int merge(int dir) |
||
| 105 | {
|
||
| 106 | if(stateLength!=0)return ERROR; |
||
| 107 | stateLength++; |
||
| 108 | state[0]=(dir==ILEFT ? MERGELEFT : MERGERIGHT);
|
||
| 109 | return NORMAL;
|
||
| 110 | } |
||
| 111 | |||
| 112 | int turn(int type, int dir) |
||
| 113 | {
|
||
| 114 | if(stateLength!=0)return ERROR; |
||
| 115 | if(dir==IRIGHT){stateLength++; state[1]=IRIGHT; return NORMAL;} |
||
| 116 | if(dir==IUTURN){stateLength+=2; state[1]=state[2]=ILEFT; return NORMAL;} |
||
| 117 | if(dir==ISTRAIGHT && type==SINGLE){stateLength++; state[1]=ISTRAIGHT; return NORMAL;} |
||
| 118 | if(dir==ISTRAIGHT){stateLength+=2; state[1]=state[2]=ISTRAIGHT; return NORMAL;} |
||
| 119 | //must be left turn
|
||
| 120 | if(type==SINGLE){stateLength++; state[1]=ILEFT; return NORMAL;} |
||
| 121 | if(type==DOUBLE){stateLength+=3;state[1]=state[3]=ISTRAIGHT; state[2]=ILEFT; return NORMAL;} |
||
| 122 | if(type==ON_RAMP){stateLength+=2; state[1]=ILEFT; state[2]=ISTRAIGHT; return NORMAL;} |
||
| 123 | if(type==OFF_RAMP){stateLength+=2; state[1]=ISTRAIGHT; state[2]=ILEFT; return NORMAL;} |
||
| 124 | |||
| 125 | //Should never get here
|
||
| 126 | return ERROR;
|
||
| 127 | } |