root / trunk / code / projects / traffic_navigation / highways.c @ 1876
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#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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