Revision 1865
header file for the function called when entering an intersection that
determines whether or not a turn is valid based on the intersection type
and position of the robot. Currently uses random number generators (i.e.
rangefinders) to determine intersection type, position, and turn type.
| trunk/code/projects/traffic_navigation/validTurns.h | ||
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#ifndef _VALID_TURNS_ |
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#define _VALID_TURNS_ |
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#include "lineFollow.h" |
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#include "lineDrive.h" |
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//To differenciate between T and Cross Intersections |
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#define DOUBLE_C 4 |
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#define DOUBLE_T 5 |
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//DOUBLE intersection (Cross Intersection) positions |
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//use T-Junction positions |
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//DOUBLE intersection (T-Junction) positions |
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/* |
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TLEFT=======TRIGHT |
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TMIDDLE |
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*/ |
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#define TLEFT 0 |
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#define TRIGHT 1 |
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#define TMIDDLE 2 |
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//SINGLE intersection positions |
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/* |
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/\ |
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/||\ |
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SACROSS==========> |
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SUP |
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*/ |
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#define SACROSS 0 |
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#define SUP 1 |
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//ON_RAMP and OFF_RAMP intersection positions |
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/* |
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R_LEFT================R_RIGHT |
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R_RAMP |
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*/ |
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#define R_LEFT 0 |
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#define R_RIGHT 1 |
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#define R_RAMP 2 |
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int getCrossType(int barcode); |
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int getCrossPos(int barcode, int max); |
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int getTurnType(); |
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int validateTurn(int barcode); |
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#endif |
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