Revision 1876
Worked on highways and object avoidance and now uses doDrive and not lineFollow
| trunk/code/projects/traffic_navigation/validTurns.h | ||
|---|---|---|
| 1 | 1 |
#ifndef _VALID_TURNS_ |
| 2 | 2 |
#define _VALID_TURNS_ |
| 3 | 3 |
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#include "lineFollow.h" |
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#include "lineDrive.h" |
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#include "../linefollowing/lineFollow.h"
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#include "../linefollowing/lineDrive.h"
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| 7 | 7 |
//To differenciate between T and Cross Intersections |
| 8 | 8 |
#define DOUBLE_C 4 |
| trunk/code/projects/traffic_navigation/highways.c | ||
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| 1 |
#include "highways.h" |
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#include "lineDrive.h" |
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#include <dragonfly_lib.h> |
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extern int state[5]; |
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static int count =0; |
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static long average = 0; |
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void driveHighway( void ){
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doDrive(200); |
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int range = range_read_distance(IR2); |
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usb_puti(range); |
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usb_puts(" : ");
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usb_puti(average); |
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usb_puts("\r\n");
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if(range == -1){
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return; |
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} |
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count ++; |
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average += range; |
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if(count >= COUNT_MAX){
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if(state[0] != MERGELEFT){
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orb1_set_color(ORANGE); |
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if(average / COUNT_MAX < PASS_DISTANCE){
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merge(ILEFT); |
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usb_puts("MERGE \r\n");
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} |
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} |
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count =0; |
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average = 0; |
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} |
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//else orb1_set_color(GREEN); |
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} |
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| trunk/code/projects/traffic_navigation/main.c | ||
|---|---|---|
| 12 | 12 |
int state, sign, dataLength, pingWaitTime; |
| 13 | 13 |
char sendBuffer[PACKET_LENGTH], prevBot, nextBot, id, nextDir, nextPath, intersectionNum; |
| 14 | 14 |
unsigned char *packet; |
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/* Initialize the dragonfly boards, the xbee, encoders, lineFollowing */ |
| 17 | 17 |
dragonfly_init(ALL_ON); |
| 18 | 18 |
xbee_init(); |
| 19 | 19 |
encoders_init(); |
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// lineDrive_init();
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lineDrive_init(); |
|
| 21 | 21 |
rtc_init(SIXTEENTH_SECOND, NULL); |
| 22 | 22 |
wl_basic_init_default(); |
| 23 | 23 |
wl_set_channel(13); |
| ... | ... | |
| 26 | 26 |
sign = 0; |
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|
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//Test code |
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state = SROAD;
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state = SHIGHWAY;
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sendBuffer[1] = id; |
| 32 | 32 |
|
| ... | ... | |
| 208 | 208 |
} |
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break; |
| 210 | 210 |
case SHIGHWAY:/*On highway*/ |
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// sign = lineFollow(); |
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//highway behaviors |
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//merging |
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//passing |
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//read barcode |
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driveHighway(); |
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break; |
| 217 | 213 |
default: |
| 218 | 214 |
usb_puts("I got stuck in an unknown state! My state is ");
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| trunk/code/projects/traffic_navigation/highways.h | ||
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| 1 |
#ifndef HIGHWAYS_H |
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#define HIGHWAYS_H |
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void driveHighway(void); |
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#define COUNT_MAX 5 |
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#define PASS_DISTANCE 100 |
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#endif |
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