Revision 1890
Did stuff, but its not complete yet
trunk/code/projects/traffic_navigation/highways.c | ||
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1 | 1 |
#include "highways.h" |
2 | 2 |
#include "lineDrive.h" |
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#include <dragonfly_lib.h> |
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|
|
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static int counti =0; |
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static long averagei = 0; |
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static int states = 0; |
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int canMerge = 1; |
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|
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void highwayFSM(){ |
|
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void highwayStart(){ |
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canMerge = 1; |
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} |
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int highwayFSM(){ |
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switch(states){ |
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|
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case 0: // Normal Drive |
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doDrive(225); |
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int range = range_read_distance(IR3); |
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{ |
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int theCode = doDrive(225); |
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if(theCode != NORMAL && theCode >= 0) |
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return theCode; |
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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(averagei); |
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usb_puts("\r\n"); |
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orb1_set_color(PURPLE); |
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if(range == -1){ |
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return;
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|
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range = 200;
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|
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} |
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counti ++; |
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averagei += range; |
... | ... | |
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counti = 0; |
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} |
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break; |
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case 1: |
|
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} |
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case 1: |
|
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merge(ILEFT); |
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states = 2; |
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canMerge = 0; |
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case 2:
|
|
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case 2: |
|
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if(doDrive(160) == FINISHED) states = 0; |
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orb1_set_color(BLUE); |
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break; |
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} |
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return 0; |
|
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} |
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|
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/* |
trunk/code/projects/traffic_navigation/main.c | ||
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sign = 0; |
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|
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//Test code |
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state = SROAD;
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|
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state = SHIGHWAY;
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|
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|
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sendBuffer[1] = id; |
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|
|
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/* |
|
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doDrive(255); |
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turn(DOUBLE, ILEFT); |
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|
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while(1) |
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doDrive(255); |
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|
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|
|
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*/ |
|
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while (1) { |
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/*DTM Finite State Machine*/ |
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switch(state){ |
... | ... | |
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} |
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break; |
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case SHIGHWAY:/*On highway*/ |
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// usb_puts("HIGHWAY\r\n"); |
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if(button1_click()) highwayStart(); |
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highwayFSM(); |
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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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break; |
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break; |
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default: |
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usb_puts("I got stuck in an unknown state! My state is "); |
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usb_puti(state); |
... | ... | |
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*/ |
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} |
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} |
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} |
|
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} |
trunk/code/projects/traffic_navigation/highways.h | ||
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1 | 1 |
#ifndef HIGHWAYS_H |
2 | 2 |
#define HIGHWAYS_H |
3 | 3 |
|
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void highwayFSM(void); |
|
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int highwayFSM(void); |
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void highwayStart(void); |
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|
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#define COUNT_MAX 12 |
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#define PASS_DISTANCE 150 |
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#endif |
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