Revision 1899
Merging works
trunk/code/projects/traffic_navigation/highways.c | ||
---|---|---|
6 | 6 |
static long averagei = 0; |
7 | 7 |
static int states = 0; |
8 | 8 |
int canMerge = 1; |
9 |
|
|
9 | 10 |
void highwayStart(){ |
10 | 11 |
canMerge = 1; |
11 | 12 |
} |
13 |
int changeLanes(){ |
|
14 |
if(counti<10000){ |
|
15 |
counti++; |
|
16 |
motor_r_set(FORWARD,232); |
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17 |
motor_l_set(FORWARD,200); |
|
18 |
return 0; |
|
19 |
} |
|
20 |
int colours[5]; |
|
21 |
updateLine(colours); |
|
22 |
int pos = lineLocate(colours); |
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23 |
if(pos >= 3 || pos <= -3){ |
|
24 |
motor_r_set(FORWARD,187); |
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25 |
motor_l_set(FORWARD,190); |
|
26 |
return 0; |
|
27 |
} |
|
28 |
counti = 0; |
|
29 |
return 1; |
|
30 |
} |
|
12 | 31 |
int highwayFSM(){ |
13 | 32 |
switch(states){ |
14 | 33 |
|
15 | 34 |
case 0: // Normal Drive |
16 | 35 |
{ |
17 |
int theCode = doDrive(225);
|
|
36 |
int theCode = doDrive(205);
|
|
18 | 37 |
/* if(theCode != NORMAL && theCode >= 0) |
19 | 38 |
return theCode; |
20 | 39 |
*/ |
... | ... | |
23 | 42 |
usb_puts(" : "); |
24 | 43 |
usb_puti(averagei); |
25 | 44 |
usb_puts("\r\n"); |
26 |
orb1_set_color(PURPLE);
|
|
45 |
orb1_set_color(CYAN);
|
|
27 | 46 |
if(range == -1){ |
28 | 47 |
range = 200; |
29 | 48 |
} |
... | ... | |
38 | 57 |
break; |
39 | 58 |
} |
40 | 59 |
case 1: |
41 |
merge(ILEFT); |
|
60 |
//merge(ILEFT);
|
|
42 | 61 |
states = 2; |
43 | 62 |
canMerge = 0; |
44 | 63 |
case 2: |
45 |
if(doDrive(160) == FINISHED) states = 0; |
|
46 |
orb1_set_color(BLUE); |
|
64 |
if(changeLanes()){ |
|
65 |
states = 0; |
|
66 |
orb1_set_color(GREEN); |
|
67 |
} |
|
68 |
else orb1_set_color(YELLOW); |
|
47 | 69 |
break; |
48 | 70 |
} |
49 | 71 |
return 0; |
trunk/code/projects/traffic_navigation/main.c | ||
---|---|---|
31 | 31 |
sign = 0; |
32 | 32 |
|
33 | 33 |
//Test code |
34 |
state = SROAD;
|
|
34 |
state = SHIGHWAY;
|
|
35 | 35 |
|
36 | 36 |
sendBuffer[1] = id; |
37 |
|
|
37 |
/* |
|
38 | 38 |
doDrive(255); |
39 | 39 |
turn(DOUBLE, ILEFT); |
40 |
|
|
40 |
*/ |
|
41 | 41 |
/* while(1) |
42 | 42 |
doDrive(255); |
43 | 43 |
*/ |
... | ... | |
98 | 98 |
} |
99 | 99 |
break; |
100 | 100 |
case SHIGHWAY:/*On highway*/ |
101 |
orb1_set_color(CYAN); |
|
102 |
while(!button1_click()){ |
|
101 |
// while(!button1_click()){ |
|
103 | 102 |
highwayFSM(); |
104 |
} |
|
105 |
state = SINTERSECTION; |
|
103 |
// }
|
|
104 |
//state = SINTERSECTION;
|
|
106 | 105 |
break; |
107 | 106 |
default: |
108 | 107 |
usb_puts("I got stuck in an unknown state! My state is "); |
... | ... | |
263 | 262 |
*/ |
264 | 263 |
} |
265 | 264 |
} |
266 |
} |
|
265 |
} |
trunk/code/projects/traffic_navigation/highways.h | ||
---|---|---|
5 | 5 |
void highwayStart(void); |
6 | 6 |
|
7 | 7 |
#define COUNT_MAX 12 |
8 |
#define PASS_DISTANCE 150
|
|
8 |
#define PASS_DISTANCE 220
|
|
9 | 9 |
#endif |
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