root / trunk / code / projects / traffic_navigation / validTurns.c @ 1866
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/*
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* Deterministic turning implemented using randomness. Using a
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* random number generator, the robot decides to go straight,
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* left, right, or u-turn.
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*
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*/
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#include "validTurns.h" |
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int randomNumGen(int max){ |
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int x = range_read_distance(IR2);
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if (x>0) return range_read_distance(IR2)%max; |
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else return randomNumGen(max); |
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} |
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int getCrossType(int barcode) |
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{
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int x = randomNumGen(4); |
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if (x == DOUBLE) {
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int y = randomNumGen(2); |
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if (y == 0) x = DOUBLE_C; |
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else x = DOUBLE_T;
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} |
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return x;
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} |
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int getCrossPos(int barcode, int max) |
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{
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return randomNumGen(max);
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} |
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int getTurnType()
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{
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return randomNumGen(4); |
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} |
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int validateTurn(int barcode) |
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{
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int cross_type;
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int cross_pos;
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if( barcode == NOBARCODE ) return -1; |
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cross_type = getCrossType(barcode); |
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switch (cross_type)
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case DOUBLE_C
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{
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cross_pos = getCrossPos(barcode, 4);
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if (0<=cross_pos && cross_pos<=3) |
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return randomNumGen(4); |
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break;
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} |
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case DOUBLE_T
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{
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cross_pos = getCrossPos(barcode, 3);
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switch (cross_pos)
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case TLEFT
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{
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int turn_type = getTurnType();
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if (turn_type == ILEFT) turn_type = ISTRAIGHT;
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return turn_type;
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break;
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} |
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case TRIGHT
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{
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int turn_type = getTurnType();
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if (turn_type == IRIGHT) turn_type = ISTRAIGHT;
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return turn_type;
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break;
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} |
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case TMIDDLE
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{
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int turn_type = getTurnType();
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if (turn_type == ISTRAIGHT) turn_type = IUTURN;
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return turn_type;
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break;
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} |
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default return -1; |
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break;
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} |
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case SINGLE
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{
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cross_pos = getCrossPos(barcode, 2);
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switch (cross_pos)
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case SACROSS
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{
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int turn_type = getTurnType();
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if (turn_type == IRIGHT || turn_type == IUTURN) turn_type = ISTRAIGHT;
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return turn_type;
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break;
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} |
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case SUP
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{
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int turn_type = getTurnType();
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if (turn_type == ILEFT || turn_type == IUTURN) turn_type = ISTRAIGHT;
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return turn_type;
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break;
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} |
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default return -1; |
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break;
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} |
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case ON_RAMP
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{
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cross_pos = getCrossPos(barcode, 3);
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switch (cross_pos)
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case R_LEFT
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{
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int turn_type = getTurnType();
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if (turn_type == ILEFT || turn_type == IUTURN) turn_type = ISTRAIGHT;
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return turn_type;
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break;
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} |
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case R_RIGHT
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{
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int turn_type = getTurnType();
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if (turn_type == IRIGHT || turn_type == IUTURN) turn_type = ISTRAIGHT;
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return turn_type;
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break;
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} |
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default return -1; |
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break;
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} |
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case OFF_RAMP
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{
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cross_pos = getCrossPos(barcode, 3);
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switch (cross_pos)
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case R_LEFT
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{
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int turn_type = ISTRAIGHT;
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return turn_type;
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break;
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} |
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case R_RIGHT
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{
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int turn_type = ISTRAIGHT;
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return turn_type;
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break;
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} |
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case R_RAMP
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{
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int turn_type = getTurnType();
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if (turn_type == ISTRAIGHT || turn_type == IUTURN) turn_type = ILEFT;
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return turn_type;
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break;
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} |
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default return -1; |
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break;
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} |
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default return -1; |
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} |