/ - Diff - Colony - Robotics Club

Revision 1884

Separated the intersection constants from the turning constants, updated fuctions accordingly.

     #include "lineDrive.h"
     //To differenciate between T and Cross Intersections
     #define DOUBLE_C	4
     #define DOUBLE_T	5
     /****************************
      * Intersection Information: 5-bit Integer
      * 	3 bits of intersection type
      * 	2 bits of entry information
+     *
      ****************************/
     /********************************
      *  Intersection TYPES:
+     *
      ********************************/
     #define INTERSECTION_SINGLE 	(1 << 2)
     #define INTERSECTION_ON_RAMP 	(2 << 2)
     #define INTERSECTION_OFF_RAMP 	(3 << 2)
     #define INTERSECTION_DOUBLE_C	(4 << 2)
     #define INTERSECTION_DOUBLE_T	(5 << 2)
     /********************************
      *  Intersection ENTRYPOINTS:
+     *
      ********************************/
     //DOUBLE intersection (Cross Intersection) positions
     //use T-Junction positions

     int main(){
     /*barcode should be written as crosstype, crosspos. 5 bit integers*/
     /*barcode should be three bits of intersection type and 2 of entrypoint*/
     dragonfly_init(ALL_ON);
     orb1_set_color(YELLOW);

trunk/code/projects/traffic_navigation/validTurns.c
45	45	return crosstype;
46	46	}
47	47	int getCrossPos(int barcode, int max){
	48	//@TODO: implement some max checking
48	49	return (barcode)&3;
49	50	}
50	51
...	...
55	56	cross_type = getCrossType(barcode);
56	57	switch (cross_type)
57	58	{
58		case DOUBLE_C:
	59	case INTERSECTION_DOUBLE_C:
59	60	{
60	61	cross_pos = getCrossPos(barcode, 4);
61	62	if (0<=cross_pos && cross_pos<=3)
...	...
63	64	break;
64	65	}
65	66	case DOUBLE: //Implements DOUBLE as DOUBLE_T
66		case DOUBLE_T:
	67	//@TODO: we really shouldn't use DOUBLE, it's part of another system. but it equals 0, so error checking.
	68	case INTERSECTION_DOUBLE_T:
67	69	{
68	70	cross_pos = getCrossPos(barcode, 3);
69	71	switch (cross_pos)
...	...
91	93	}
92	94	break;
93	95	}
94		case SINGLE:
	96	case INTERSECTION_SINGLE:
95	97	{
96	98	cross_pos = getCrossPos(barcode, 2);
97	99	switch (cross_pos)
...	...
113	115	}
114	116	break;
115	117	}
116		case ON_RAMP:
	118	case INTERSECTION_ON_RAMP:
117	119	{
118	120	cross_pos = getCrossPos(barcode, 3);
119	121	switch (cross_pos)
...	...
135	137	}
136	138	break;
137	139	}
138		case OFF_RAMP:
	140	case INTERSECTION_OFF_RAMP:
139	141	{
140	142	cross_pos = getCrossPos(barcode, 3);
141	143	switch (cross_pos)

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