Revision 1899
Merging works
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){ |
|
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counti++; |
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motor_r_set(FORWARD,232); |
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motor_l_set(FORWARD,200); |
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return 0; |
|
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} |
|
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int colours[5]; |
|
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updateLine(colours); |
|
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int pos = lineLocate(colours); |
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if(pos >= 3 || pos <= -3){ |
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motor_r_set(FORWARD,187); |
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motor_l_set(FORWARD,190); |
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return 0; |
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} |
|
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counti = 0; |
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return 1; |
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} |
|
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); |
|
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//merge(ILEFT);
|
|
42 | 61 |
states = 2; |
43 | 62 |
canMerge = 0; |
44 | 63 |
case 2: |
45 |
if(doDrive(160) == FINISHED) states = 0; |
|
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orb1_set_color(BLUE); |
|
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if(changeLanes()){ |
|
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states = 0; |
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orb1_set_color(GREEN); |
|
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} |
|
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else orb1_set_color(YELLOW); |
|
47 | 69 |
break; |
48 | 70 |
} |
49 | 71 |
return 0; |
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