root / trunk / code / projects / traffic_navigation / highways.c @ 1890
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| 1 | 1876 | markwill | #include "highways.h" |
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| 2 | #include "lineDrive.h" |
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| 3 | #include <dragonfly_lib.h> |
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| 4 | 1890 | markwill | |
| 5 | 1877 | markwill | static int counti =0; |
| 6 | static long averagei = 0; |
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| 7 | static int states = 0; |
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| 8 | int canMerge = 1; |
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| 9 | 1890 | markwill | void highwayStart(){
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| 10 | canMerge = 1;
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| 11 | } |
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| 12 | int highwayFSM(){
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| 13 | 1877 | markwill | switch(states){
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| 14 | |||
| 15 | case 0: // Normal Drive |
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| 16 | 1890 | markwill | {
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| 17 | int theCode = doDrive(225); |
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| 18 | if(theCode != NORMAL && theCode >= 0) |
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| 19 | return theCode;
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| 20 | int range = range_read_distance(IR2);
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| 21 | 1877 | markwill | usb_puti(range); |
| 22 | usb_puts(" : ");
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| 23 | usb_puti(averagei); |
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| 24 | usb_puts("\r\n");
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| 25 | orb1_set_color(PURPLE); |
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| 26 | if(range == -1){ |
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| 27 | 1890 | markwill | range = 200;
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| 28 | 1877 | markwill | } |
| 29 | counti ++; |
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| 30 | averagei += range; |
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| 31 | if(counti>= COUNT_MAX){
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| 32 | if(averagei / COUNT_MAX < PASS_DISTANCE && canMerge)
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| 33 | states = 1;
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| 34 | averagei = 0;
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| 35 | counti = 0;
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| 36 | } |
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| 37 | break;
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| 38 | 1890 | markwill | } |
| 39 | case 1: |
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| 40 | 1877 | markwill | merge(ILEFT); |
| 41 | states = 2;
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| 42 | canMerge = 0;
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| 43 | 1890 | markwill | case 2: |
| 44 | 1877 | markwill | if(doDrive(160) == FINISHED) states = 0; |
| 45 | orb1_set_color(BLUE); |
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| 46 | break;
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| 47 | } |
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| 48 | 1890 | markwill | return 0; |
| 49 | 1877 | markwill | } |
| 50 | |||
| 51 | /*
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| 52 | 1876 | markwill | void driveHighway( void ){
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| 53 | doDrive(200);
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| 54 | int range = range_read_distance(IR2);
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| 55 | usb_puti(range);
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| 56 | usb_puts(" : ");
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| 57 | usb_puti(average);
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| 58 | usb_puts("\r\n");
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| 59 | if(range == -1){
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| 60 | return;
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| 61 | }
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| 62 | |||
| 63 | count ++;
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| 64 | average += range;
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| 65 | if(count >= COUNT_MAX){
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| 66 | if(state[0] != MERGELEFT){
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| 67 | orb1_set_color(ORANGE);
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| 68 | if(average / COUNT_MAX < PASS_DISTANCE){
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| 69 | merge(ILEFT);
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| 70 | usb_puts("MERGE \r\n");
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| 71 | }
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| 72 | }
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| 73 | 1877 | markwill | |
| 74 | 1876 | markwill | count =0;
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| 75 | average = 0;
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| 76 | }
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| 77 | //else orb1_set_color(GREEN);
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| 78 | }
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| 79 | 1877 | markwill | */ |