Project

General

Profile

Revision 1894

Added by Alexander Lam over 13 years ago

Fixed directions and array indexes to match.

View differences:

collision_avoid.c
3 3 
 *  - Actually Test this stuff. Especially the intersection rotating thing. and the parts marked sketchy.
4 4 
 *  - Integrate into main.c
5 5 
 *  - In the intersection queue in main.c, allow bots to skip each other (since this code allows it).
6 
 */
6 
 *
7 
 *
8 
 *  IMMEDIATE TODO: FIX dir1 and dir3 relation to array indexes
9 
 *  make first_hop work. <-- THIS SHOULD BE FIXED
10 

  		




  
  11
  
    
*/


  		




  7
  12
  
    
#include "collision_avoid.h"


  		




  8
  13
  
    
#include "traffic_navigation.h"


  		




  9
  14
  
    
static unsigned int my_path = 0;


  		




  
  15
  
    
static unsigned int first_hop = 0;


  		




  10
  16
  
    
static char intersection = 0;


  		




  11
  17
  
    

  		




  12
  18
  
    
/*           Dir0


  		




  ......




  16
  22
  
    
 *         [6 ][2 ]


  		




  17
  23
  
    
 *           Dir2  


  		




  18
  24
  
    
 */


  		




  
  25
  
    
/*           Dir0


  		




  
  26
  
    
 *         [0 ][4 ]


  		




  
  27
  
    
 *Dir1  [5][8 ][9 ][3]   Dir3


  		




  
  28
  
    
 *      [1][11][10][7]


  		




  
  29
  
    
 *         [6 ][2 ]


  		




  
  30
  
    
 *           Dir2  


  		




  
  31
  
    
 */


  		




  19
  32
  
    
void ca_EnterIntersection(char intersectionNum, char fromDir, char nextDir){


  		




  20
  33
  
    
	/* Generic turn model condenses all turns into either:


  		




  21
  34
  
    
	 * - a right turn from dir0 to dir1


  		




  ......




  74
  87
  
    
		new_path | temp;


  		




  75
  88
  
    
	}


  		




  76
  89
  
    
	my_path = new_path;


  		




  
  90
  
    
	firsthop = 


  		




  77
  91
  
    
}


  		




  78
  92
  
    
void ca_ExitIntersection(){


  		




  79
  93
  
    
	mypath = 0;


  		




  ......




  106
  120
  
    
		usb_puts("CA ERROR: You didn't call ca_Process with a WCOLLISIONAVOID type packet (CA_E2)\n");


  		




  107
  121
  
    
	if(recieve[1] < 0)


  		




  108
  122
  
    
		usb_puts("CA ERROR: Recieved Packet indicates sending bot has a negative ID. (CA_E3)\n");


  		




  109
  
  
    
	if(recieve[2] < 0)


  		




  110
  
  
    
		usb_puts("CA ERROR: Recieved Packet indicates intersectionhas a negative ID. (CA_E4)\n");


  		




  
  123
  
    
	if(recieve[2] != intersection)


  		




  
  124
  
    
		usb_puts("CA ERROR: Recieved Packet's intersection doesn't match the intersection CA is operating on in this Bot.. (CA_E4)\n");


  		




  111
  125
  
    
#endif


  		




  112
  126
  
    
	if(*(recieve+3) & my_path != 0){ /* Sketchy Code */


  		




  113
  127
  
    
#ifdef DEBUG_CA


  		












Also available in:  Unified diff