root / trunk / code / projects / traffic_navigation / highways.c @ 1992
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| 1 | 1876 | markwill | #include "highways.h" |
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| 2 | 1966 | alevkoy | #include "../linefollowing/lineDrive.h" |
| 3 | 1876 | markwill | #include <dragonfly_lib.h> |
| 4 | 1890 | markwill | |
| 5 | 1966 | alevkoy | static int changeLanes(void); // declared here to preserve static status |
| 6 | |||
| 7 | 1902 | markwill | int counti =0; |
| 8 | long averagei = 0; |
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| 9 | int states = 0; |
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| 10 | 1877 | markwill | int canMerge = 1; |
| 11 | 1899 | markwill | |
| 12 | 1890 | markwill | void highwayStart(){
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| 13 | canMerge = 1;
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| 14 | } |
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| 15 | 1966 | alevkoy | |
| 16 | static int changeLanes() |
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| 17 | {
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| 18 | 1899 | markwill | if(counti<10000){ |
| 19 | counti++; |
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| 20 | motor_r_set(FORWARD,232);
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| 21 | motor_l_set(FORWARD,200);
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| 22 | return 0; |
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| 23 | } |
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| 24 | int colours[5]; |
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| 25 | updateLine(colours); |
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| 26 | int pos = lineLocate(colours);
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| 27 | if(pos >= 3 || pos <= -3){ |
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| 28 | motor_r_set(FORWARD,187);
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| 29 | motor_l_set(FORWARD,190);
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| 30 | return 0; |
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| 31 | } |
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| 32 | counti = 0;
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| 33 | return 1; |
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| 34 | } |
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| 35 | 1966 | alevkoy | |
| 36 | 1890 | markwill | int highwayFSM(){
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| 37 | 1877 | markwill | switch(states){
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| 38 | |||
| 39 | case 0: // Normal Drive |
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| 40 | 1890 | markwill | {
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| 41 | 1899 | markwill | int theCode = doDrive(205); |
| 42 | 1900 | markwill | if(theCode != NORMAL && theCode >= 0) |
| 43 | 1890 | markwill | return theCode;
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| 44 | 1900 | markwill | int range = range_read_distance(IR3);
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| 45 | 1877 | markwill | usb_puti(range); |
| 46 | usb_puts(" : ");
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| 47 | usb_puti(averagei); |
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| 48 | usb_puts("\r\n");
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| 49 | 1969 | azl | #ifdef ORB_HIGHWAY
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| 50 | 1899 | markwill | orb1_set_color(CYAN); |
| 51 | 1969 | azl | #endif
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| 52 | 1877 | markwill | if(range == -1){ |
| 53 | 1900 | markwill | range = PASS_DISTANCE+50;
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| 54 | 1877 | markwill | } |
| 55 | counti ++; |
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| 56 | averagei += range; |
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| 57 | if(counti>= COUNT_MAX){
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| 58 | if(averagei / COUNT_MAX < PASS_DISTANCE && canMerge)
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| 59 | states = 1;
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| 60 | averagei = 0;
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| 61 | counti = 0;
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| 62 | } |
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| 63 | break;
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| 64 | 1890 | markwill | } |
| 65 | case 1: |
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| 66 | 1877 | markwill | states = 2;
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| 67 | canMerge = 0;
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| 68 | 1890 | markwill | case 2: |
| 69 | 1899 | markwill | if(changeLanes()){
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| 70 | states = 0;
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| 71 | 1969 | azl | #ifdef ORB_HIGHWAY
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| 72 | 1899 | markwill | orb1_set_color(GREEN); |
| 73 | 1969 | azl | #endif
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| 74 | 1899 | markwill | } |
| 75 | 1969 | azl | #ifdef ORB_HIGHWAY
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| 76 | 1899 | markwill | else orb1_set_color(YELLOW);
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| 77 | 1969 | azl | #endif
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| 78 | 1877 | markwill | break;
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| 79 | } |
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| 80 | 1890 | markwill | return 0; |
| 81 | 1877 | markwill | } |
| 82 | |||
| 83 | /*
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| 84 | 1876 | markwill | void driveHighway( void ){
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| 85 | doDrive(200);
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| 86 | int range = range_read_distance(IR2);
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| 87 | usb_puti(range);
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| 88 | usb_puts(" : ");
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| 89 | usb_puti(average);
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| 90 | usb_puts("\r\n");
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| 91 | if(range == -1){
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| 92 | return;
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| 93 | }
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| 94 | |||
| 95 | count ++;
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| 96 | average += range;
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| 97 | if(count >= COUNT_MAX){
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| 98 | if(state[0] != MERGELEFT){
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| 99 | 1969 | azl | #ifdef ORB_HIGHWAY
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| 100 | 1876 | markwill | orb1_set_color(ORANGE);
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| 101 | 1969 | azl | #endif
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| 102 | 1876 | markwill | if(average / COUNT_MAX < PASS_DISTANCE){
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| 103 | merge(ILEFT);
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| 104 | usb_puts("MERGE \r\n");
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| 105 | }
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| 106 | }
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| 107 | 1877 | markwill | |
| 108 | 1876 | markwill | count =0;
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| 109 | average = 0;
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| 110 | }
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| 111 | 1969 | azl | #ifdef ORB_HIGHWAY
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| 112 | 1876 | markwill | //else orb1_set_color(GREEN);
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| 113 | 1969 | azl | #endif
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| 114 | 1876 | markwill | }
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| 115 | 1877 | markwill | */ |