root / trunk / code / projects / traffic_navigation / validTurns.c @ 1929
History | View | Annotate | Download (2.91 KB)
1 |
/*
|
---|---|
2 |
* Deterministic turning implemented using table lookup. Using a
|
3 |
* table, the function looks up a value from the table using the
|
4 |
* barcode value, and then the robot decides to go straight,
|
5 |
* left, right, or u-turn depending on the valid turn types
|
6 |
* for the intersection it is at.
|
7 |
*
|
8 |
*/
|
9 |
|
10 |
unsigned int seed = 0xC0FFEE; |
11 |
|
12 |
/******************************Random Num Gen Version of validTurns*/
|
13 |
/*
|
14 |
int randomNumGen(int max){
|
15 |
return rtc_get() % max;
|
16 |
}
|
17 |
*/
|
18 |
int randomNumGen(int max){ |
19 |
int a = 1337; |
20 |
int b = 0xDEADBEEF; |
21 |
seed++; |
22 |
return seed%max;
|
23 |
} |
24 |
|
25 |
|
26 |
/*
|
27 |
int getIntersectType(int barcode)
|
28 |
{
|
29 |
return randomNumGen(5);
|
30 |
}
|
31 |
|
32 |
int getIntersectPos(int barcode, int max)
|
33 |
{
|
34 |
return randomNumGen(max);
|
35 |
}
|
36 |
*/
|
37 |
int getTurnType(int barcode) |
38 |
{ |
39 |
return randomNumGen(4); |
40 |
} |
41 |
|
42 |
|
43 |
#include "intersectData.h" |
44 |
#include "lineDrive.h" |
45 |
#include "validTurns.h" |
46 |
|
47 |
int validateTurn(int barcode, int turn_type) |
48 |
{ |
49 |
int intersect_type;
|
50 |
int intersect_pos;
|
51 |
intersect_type = getIntersectType(barcode); |
52 |
switch (intersect_type)
|
53 |
{ |
54 |
case DOUBLE_C:
|
55 |
{ |
56 |
intersect_pos = getIntersectPos(barcode); |
57 |
if (0<=intersect_pos && intersect_pos<=3) |
58 |
return turn_type;
|
59 |
break;
|
60 |
} |
61 |
case DOUBLE_T:
|
62 |
{ |
63 |
intersect_pos = getIntersectPos(barcode); |
64 |
switch (intersect_pos)
|
65 |
{ |
66 |
case TLEFT:
|
67 |
{ |
68 |
if (turn_type == ILEFT) turn_type = ISTRAIGHT;
|
69 |
return turn_type;
|
70 |
break;
|
71 |
} |
72 |
case TRIGHT:
|
73 |
{ |
74 |
if (turn_type == IRIGHT) turn_type = ISTRAIGHT;
|
75 |
return turn_type;
|
76 |
break;
|
77 |
} |
78 |
case TMIDDLE:
|
79 |
{ |
80 |
if (turn_type == ISTRAIGHT) turn_type = IUTURN;
|
81 |
return turn_type;
|
82 |
break;
|
83 |
} |
84 |
default:
|
85 |
return -1; |
86 |
} |
87 |
break;
|
88 |
} |
89 |
case SINGLE:
|
90 |
{ |
91 |
intersect_pos = getIntersectPos(barcode); |
92 |
switch (intersect_pos)
|
93 |
{ |
94 |
case SACROSS:
|
95 |
{ |
96 |
if (turn_type == IRIGHT || turn_type == IUTURN) turn_type = ISTRAIGHT;
|
97 |
return turn_type;
|
98 |
break;
|
99 |
} |
100 |
case SUP:
|
101 |
{ |
102 |
if (turn_type == ILEFT || turn_type == IUTURN) turn_type = ISTRAIGHT;
|
103 |
return turn_type;
|
104 |
break;
|
105 |
} |
106 |
default:
|
107 |
return -1; |
108 |
} |
109 |
break;
|
110 |
} |
111 |
case ON_RAMP:
|
112 |
{ |
113 |
intersect_pos = getIntersectPos(barcode); |
114 |
switch (intersect_pos)
|
115 |
{ |
116 |
case R_LEFT:
|
117 |
{ |
118 |
if (turn_type == ILEFT || turn_type == IUTURN) turn_type = ISTRAIGHT;
|
119 |
return turn_type;
|
120 |
break;
|
121 |
} |
122 |
case R_RIGHT:
|
123 |
{ |
124 |
if (turn_type == IRIGHT || turn_type == IUTURN) turn_type = ISTRAIGHT;
|
125 |
return turn_type;
|
126 |
break;
|
127 |
} |
128 |
default:
|
129 |
return -1; |
130 |
} |
131 |
break;
|
132 |
} |
133 |
case OFF_RAMP:
|
134 |
{ |
135 |
intersect_pos = getIntersectPos(barcode); |
136 |
switch (intersect_pos)
|
137 |
{ |
138 |
case R_LEFT:
|
139 |
{ |
140 |
int turn_type = ISTRAIGHT;
|
141 |
return turn_type;
|
142 |
break;
|
143 |
} |
144 |
case R_RIGHT:
|
145 |
{ |
146 |
int turn_type = ISTRAIGHT;
|
147 |
return turn_type;
|
148 |
break;
|
149 |
} |
150 |
case R_RAMP:
|
151 |
{ |
152 |
if (turn_type == ISTRAIGHT || turn_type == IUTURN) turn_type = ILEFT;
|
153 |
return turn_type;
|
154 |
break;
|
155 |
} |
156 |
default:
|
157 |
return -1; |
158 |
} |
159 |
break;
|
160 |
} |
161 |
default:
|
162 |
return -1; |
163 |
} |
164 |
} |