Revision 1988
This is a working version of the code for the demo. It works on Bot 7, and partially on Bot 14. Due to the number of changes here, I'll list them by file:
traffic_navigation.h
I added a #define for sendGraph, so its main won't be compiled unless defined. Uncomment the #define line at the top of this file to turn its main on. Make sure you also comment out the #define for main-new. Also, has the new #define for the node wireless packet type.
readSerial.sh
I changed the output to print to stdout, instead of a file.
sendGraph.c
sendGraph.h
I modified the struct that stores and sends node data so it has a wireless packet type (80), and is 1 byte larger to hold it.
validTurns.c
One of the intersections on the map was placed incorrectly, and the robot drives off the line if it gets there. I added 2 if statements to control how the robot turns if it is at that intersection. The intersection has barcode numbers 13 and 16.
Makefile
I changed the target to main-new because that was what I was testing. If you're testing something else, make sure you change this line.
main-new.c
I changed the speed at which the robot drives at. I lowered it from 200 to 180, although this value depends on which bot it was used on. I also changed all of Alex's #ifdef debugging code into #define that takes up less space and makes the code look cleaner.
readSerial.sh | ||
---|---|---|
1 | 1 |
#/bin/bash |
2 |
touch graphData |
|
2 | 3 |
while true |
3 | 4 |
do |
4 | 5 |
read LINE < /dev/ttyUSB0 |
5 |
echo $LINE >> graphData |
|
6 |
# echo $LINE >> graphData |
|
7 |
echo $LINE |
|
6 | 8 |
done |
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