Revision 1881
Merged the types of doubles into the crossing type. Also fixed comments
that were never updated and implements things of type DOUBLE as DOUBLE_T's
if you dont specify because DOUBLE_T is more safe.
| trunk/code/projects/traffic_navigation/validTurns-test.c | ||
|---|---|---|
| 3 | 3 |
#include "validTurns.h" |
| 4 | 4 |
|
| 5 | 5 |
int main(){
|
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/*barcode should be written as double type (DOUBLE_C or DOUBLE_T), crosstype, crosspos, turntype. 6-9 bit integers*/
|
|
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/*barcode should be written as crosstype, crosspos. 5 bit integers*/
|
|
| 7 | 7 |
|
| 8 | 8 |
dragonfly_init(ALL_ON); |
| 9 | 9 |
orb1_set_color(YELLOW); |
| 10 | 10 |
|
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int barcode1 = (DOUBLE_C<<4)+(DOUBLE<<2)+(TMIDDLE);
|
|
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int barcode1 = (DOUBLE_C<<2)+(TMIDDLE); |
|
| 12 | 12 |
if (validateTurn(barcode1, ILEFT)==ILEFT) orb1_set_color(GREEN); |
| 13 | 13 |
|
| 14 | 14 |
delay_ms(100); |
| 15 | 15 |
orb1_set_color(PINK); |
| 16 | 16 |
delay_ms(50); |
| 17 | 17 |
|
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int barcode2 = (DOUBLE_C<<4)+(DOUBLE<<2)+(TMIDDLE);
|
|
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int barcode2 = (DOUBLE_C<<2)+(TMIDDLE); |
|
| 19 | 19 |
if (validateTurn(barcode2, IUTURN)==IUTURN) orb1_set_color(GREEN); |
| 20 | 20 |
|
| 21 | 21 |
delay_ms(100); |
| 22 | 22 |
orb1_set_color(RED); |
| 23 | 23 |
delay_ms(50); |
| 24 | 24 |
|
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int barcode3 = (DOUBLE_T<<4)+(DOUBLE<<2)+(TMIDDLE);
|
|
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int barcode3 = (DOUBLE_T<<2)+(TMIDDLE); |
|
| 26 | 26 |
if (validateTurn(barcode3, IUTURN)==IUTURN) orb1_set_color(GREEN); |
| 27 |
|
|
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s |
|
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delay_ms(100); |
| 29 | 29 |
orb1_set_color(PURPLE); |
| 30 | 30 |
delay_ms(50); |
| 31 | 31 |
|
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int barcode4 = (DOUBLE_T<<4)+(DOUBLE<<2)+(TMIDDLE);
|
|
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int barcode4 = (DOUBLE_T<<2)+(TMIDDLE); |
|
| 33 | 33 |
if (validateTurn(barcode4, ISTRAIGHT)==IUTURN) orb1_set_color(GREEN); |
| 34 | 34 |
|
| 35 | 35 |
while (1){}
|
| trunk/code/projects/traffic_navigation/validTurns.c | ||
|---|---|---|
| 1 | 1 |
/* |
| 2 |
* Deterministic turning implemented using randomness. Using a |
|
| 3 |
* random number generator, the robot decides to go straight, |
|
| 4 |
* left, right, or u-turn. |
|
| 2 |
* Deterministic turning implemented using table lookup. Using a |
|
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* table, the function looks up a value from the table using the |
|
| 4 |
* barcode value, and then the robot decides to go straight, |
|
| 5 |
* left, right, or u-turn depending on the valid turn types |
|
| 6 |
* for the intersection it is at. |
|
| 5 | 7 |
* |
| 6 | 8 |
*/ |
| 7 | 9 |
|
| 8 | 10 |
#include <dragonfly_lib.h> |
| 9 | 11 |
#include "validTurns.h" |
| 10 | 12 |
|
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#define NOBARCODE -1 |
|
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/* |
|
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|
|
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/******************************Random Num Gen Version of validTurns
|
|
| 13 | 15 |
int randomNumGen(int max){
|
| 14 | 16 |
int x = range_read_distance(IR2); |
| 15 | 17 |
if (x>0) return range_read_distance(IR2)%max; |
| ... | ... | |
| 40 | 42 |
|
| 41 | 43 |
int getCrossType(int barcode){
|
| 42 | 44 |
int crosstype = (barcode>>2)&3; |
| 43 |
if (crosstype == DOUBLE) crosstype = (barcode>>4)&7; |
|
| 44 | 45 |
return crosstype; |
| 45 | 46 |
} |
| 46 | 47 |
int getCrossPos(int barcode, int max){
|
| ... | ... | |
| 51 | 52 |
{
|
| 52 | 53 |
int cross_type; |
| 53 | 54 |
int cross_pos; |
| 54 |
if( barcode == NOBARCODE ) return -1; |
|
| 55 | 55 |
cross_type = getCrossType(barcode); |
| 56 | 56 |
switch (cross_type) |
| 57 | 57 |
{
|
| ... | ... | |
| 62 | 62 |
return turn_type; |
| 63 | 63 |
break; |
| 64 | 64 |
} |
| 65 |
case DOUBLE: //Implements DOUBLE as DOUBLE_T |
|
| 65 | 66 |
case DOUBLE_T: |
| 66 | 67 |
{
|
| 67 | 68 |
cross_pos = getCrossPos(barcode, 3); |
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