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Revision 1901

Added by Ben Wasserman over 13 years ago

Updated main to work for the demo. It now switches states properly, but button1 seems to trigger accidentally sometimes (but strangely consistently at the same point in the program). Also edited the random turn generator to use the rtc instead of a rangefinder for the seed.

View differences:

main.c
31 31 
	sign = 0;
32 32
33 33 
	//Test code
34 
	state = SHIGHWAY;
34 
	state = SROAD;
35 35 

  		




  36
  36
  
    
	sendBuffer[1] = id;


  		




  37
  
  
    
/*


  		




  38
  
  
    
	doDrive(255);


  		




  
  37
  
    

  		




  
  38
  
    
	/*


  		




  
  39
  
    
	doDrive(200);


  		




  39
  40
  
    
	turn(DOUBLE, ILEFT);


  		




  40
  
  
    
*/	


  		




  
  41
  
    
	*/


  		




  41
  42
  
    
/*	while(1)


  		




  42
  43
  
    
		doDrive(255);


  		




  43
  44
  
    
	*/


  		




  ......




  50
  51
  
    
			//other road behaviors


  		




  51
  52
  
    
				//tailgating?


  		




  52
  53
  
    
			//read barcode


  		




  53
  
  
    
			sign = doDrive(255);


  		




  54
  
  
    
			if((sign >= 0) || button1_click()){


  		




  
  54
  
    
			sign = doDrive(200);


  		




  
  55
  
    
			if(button1_click()){


  		




  55
  56
  
    
				state = SINTERSECTION;


  		




  56
  57
  
    
			}


  		




  57
  58
  
    
			break;


  		




  ......




  84
  85
  
    
			orb1_set_color(ORANGE);


  		




  85
  86
  
    
			while(1){


  		




  86
  87
  
    
				stop();


  		




  87
  
  
    
				sign = doDrive(255);


  		




  
  88
  
    
				sign = doDrive(200);


  		




  88
  89
  
    
				if((sign >= 0) || button1_click()){


  		




  89
  90
  
    
					start();


  		




  90
  91
  
    
					if(0){


  		




  ......




  98
  99
  
    
			}


  		




  99
  100
  
    
			break;


  		




  100
  101
  
    
		case SHIGHWAY:/*On highway*/


  		




  101
  
  
    
		//	while(!button1_click()){


  		




  
  102
  
    
			orb1_set_color(CYAN);


  		




  
  103
  
    
			while(!button1_click()){


  		




  102
  104
  
    
				highwayFSM();


  		




  103
  
  
    
		//	}


  		




  104
  
  
    
			//state = SINTERSECTION;


  		




  
  105
  
    
			}


  		




  
  106
  
    
			state = SINTERSECTION;


  		




  105
  107
  
    
			break;


  		




  106
  108
  
    
		default:


  		




  107
  109
  
    
			usb_puts("I got stuck in an unknown state! My state is ");


  		




  ......




  225
  227
  
    
	//But here's the code to handle wireless while in the intersection...


  		




  226
  228
  
    
	start();


  		




  227
  229
  
    
	turn(getIntersectType(sign), turnDir);


  		




  228
  
  
    
	while(doDrive(255) != FINISHED){


  		




  
  230
  
    
	while(doDrive(200) != FINISHED){


  		




  229
  231
  
    
		dataLength = 0;


  		




  230
  232
  
    
		packet = NULL;


  		




  231
  233
  
    
		packet = wl_basic_do_default(&dataLength);		


  		




  ......




  262
  264
  
    
			*/


  		




  263
  265
  
    
		}


  		




  264
  266
  
    
	}


  		




  265
  
  
    
}


  		




  
  267
  
    
}


  		












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