root / trunk / code / projects / traffic_navigation / validTurns.h @ 1872
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1 | 1865 | pdeo | #ifndef _VALID_TURNS_
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2 | #define _VALID_TURNS_
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3 | |||
4 | #include "lineFollow.h" |
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5 | #include "lineDrive.h" |
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6 | |||
7 | //To differenciate between T and Cross Intersections
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8 | #define DOUBLE_C 4 |
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9 | #define DOUBLE_T 5 |
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10 | |||
11 | //DOUBLE intersection (Cross Intersection) positions
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12 | //use T-Junction positions
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13 | |||
14 | //DOUBLE intersection (T-Junction) positions
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15 | /*
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16 | TLEFT=======TRIGHT
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17 | ||
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18 | ||
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19 | ||
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20 | TMIDDLE
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21 | */
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22 | #define TLEFT 0 |
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23 | #define TRIGHT 1 |
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24 | #define TMIDDLE 2 |
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25 | |||
26 | //SINGLE intersection positions
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27 | /*
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28 | /\
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29 | /||\
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30 | ||
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31 | SACROSS==========>
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32 | ||
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33 | ||
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34 | ||
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35 | SUP
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36 | */
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37 | #define SACROSS 0 |
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38 | #define SUP 1 |
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39 | |||
40 | |||
41 | //ON_RAMP and OFF_RAMP intersection positions
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42 | /*
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43 | R_LEFT================R_RIGHT
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44 | ||
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45 | ||
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46 | ||
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47 | R_RAMP
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48 | */
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49 | #define R_LEFT 0 |
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50 | #define R_RIGHT 1 |
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51 | #define R_RAMP 2 |
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52 | |||
53 | int getCrossType(int barcode); |
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54 | |||
55 | int getCrossPos(int barcode, int max); |
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56 | |||
57 | int getTurnType();
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58 | |||
59 | int validateTurn(int barcode); |
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60 | |||
61 | #endif |