/*! * \brief Performs a turn. * \return Returns TRUE while turn is still in progress. */ uint8_t MAZE_EvaluteTurn(bool *finished, bool rule) { REF_LineKind historyLineKind, currLineKind; TURN_Kind turn; if (MAZE_IsSolved()) { if (!FollowSegment()) { if (index < pathLength) { //TURN_Turn(TURN_STEP_LINE_FW_POST_LINE,MAZE_SampleTurnStopFunction); TURN_Turn(TURN_STEP_LINE_FW_POST_LINE, NULL); TURN_Turn(MAZE_GetSolvedTurn(&index), NULL); } else { TURN_Turn(TURN_STEP_LINE_FW_POST_LINE, NULL); LF_StopFollowing(); index = 0; } } return ERR_OK; } else { *finished = FALSE; currLineKind = REF_GetLineKind(); if (currLineKind == REF_LINE_NONE) { /* nothing, must be dead end */ MAZE_AddPath(TURN_LEFT180); turn = TURN_LEFT180; } else { MAZE_ClearSensorHistory(); /* clear history values */ MAZE_SampleSensorHistory(); /* store current values */ TURN_Turn(TURN_STEP_LINE_FW_POST_LINE, MAZE_SampleTurnStopFunction); /* do the line and beyond in one step */ historyLineKind = MAZE_HistoryLineKind(); /* new read new values */ currLineKind = REF_GetLineKind(); turn = MAZE_SelectTurn(historyLineKind, currLineKind, rule); } if (turn == TURN_FINISHED) { *finished = TRUE; //LF_StopFollowing(); return ERR_OK; } else if (turn == TURN_STRAIGHT) { //SHELL_SendString((unsigned char*) "going straight\r\n"); return ERR_OK; } else if (turn == TURN_STOP) { /* should not happen here? */ LF_StopFollowing(); return ERR_FAILED; /* error case */ } else { /* turn or do something */ TURN_Turn(turn, NULL); return ERR_OK; /* turn finished */ } } }
static void StateMachine(void) { switch (LF_currState) { case STATE_IDLE: break; case STATE_FOLLOW_SEGMENT: if (!FollowSegment(LINE_FOLLOW_FW)) { #if PL_APP_LINE_MAZE LF_currState = STATE_TURN; /* make turn */ #else LF_currState = STATE_STOP; /* stop if we do not have a line any more */ #endif } break; #if PL_APP_LINE_MAZE case STATE_FOLLOW_SEGMENT_BW: if (!FollowSegment(FALSE)) { TURN_Turn(TURN_STOP); if (EvaluateTurnBw()==ERR_OK) { LF_currState = STATE_FOLLOW_SEGMENT; } else { LF_currState = STATE_STOP; } } break; #endif #if PL_APP_LINE_MAZE case STATE_TURN: if (MAZE_IsSolved()) { TURN_Kind turn; turn = MAZE_GetSolvedTurn(&LF_solvedIdx); if (turn==TURN_STOP) { /* last turn reached */ TURN_Turn(turn); LF_currState = STATE_FINISHED; } else { /* perform turning */ TURN_Turn(TURN_STEP_LINE_FW); /* Step over line */ TURN_Turn(TURN_STEP_POST_LINE_FW); /* step before doing the turn */ TURN_Turn(turn); LF_currState = STATE_FOLLOW_SEGMENT; } } else { /* still evaluating maze */ bool deadEndGoBw = FALSE; bool finished = FALSE; if (EvaluteTurn(&finished, &deadEndGoBw)==ERR_OK) { /* finished turning */ if (finished) { LF_currState = STATE_FINISHED; MAZE_SetSolved(); #if PL_TURN_ON_FINISH /* turn the robot */ TURN_Turn(TURN_LEFT180); #endif TURN_Turn(TURN_STOP); /* now ready to do line following */ } else if (deadEndGoBw) { LF_currState = STATE_FOLLOW_SEGMENT_BW; } else { LF_currState = STATE_FOLLOW_SEGMENT; } } else { /* error case */ LF_currState = STATE_STOP; } } break; #endif #if PL_APP_LINE_MAZE case STATE_FINISHED: #if PL_HAS_BUZZER { uint8_t i; for(i=0;i<4;i++) { (void)BUZ_Beep(300, 100); WAIT1_WaitOSms(500); } } #endif LF_currState = STATE_STOP; break; #endif case STATE_STOP: TURN_Turn(TURN_STOP); LF_currState = STATE_IDLE; break; } /* switch */ }
/*! * \brief Performs a turn. * \return Returns TRUE while turn is still in progress. */ uint8_t MAZE_EvaluteTurn(bool *finished) { REF_LineKind historyLineKind, currLineKind; TURN_Kind turn; *finished = FALSE; if(MAZE_IsSolved()){ TURN_Turn(TURN_STEP_LINE_FW_POST_LINE, MAZE_SampleTurnStopFunction); /* do the line and beyond in one step */ SHELL_ParseCmd((unsigned char*)"drive mode none"); turn = MAZE_GetSolvedTurn(&indexPath); } else{ currLineKind = REF_GetLineKind(); if (currLineKind==REF_LINE_NONE) { /* nothing, must be dead end */ turn = TURN_LEFT180; } else { MAZE_ClearSensorHistory(); /* clear history values */ MAZE_SampleSensorHistory(); /* store current values */ TURN_Turn(TURN_STEP_LINE_FW_POST_LINE, MAZE_SampleTurnStopFunction); /* do the line and beyond in one step */ historyLineKind = MAZE_HistoryLineKind(); /* new read new values */ currLineKind = REF_GetLineKind(); turn = MAZE_SelectTurn(historyLineKind, currLineKind); } if(!isSolved){ MAZE_AddPath(turn); } } if (turn==TURN_FINISHED) { *finished = TRUE; LF_StopFollowing(); SHELL_SendString((unsigned char*)"MAZE: finished!\r\n"); return ERR_OK; } else if (turn==TURN_STRAIGHT) { SHELL_ParseCmd((unsigned char*)"drive mode none"); //SHELL_SendString((unsigned char*)"going straight\r\n"); return ERR_OK; } else if (turn==TURN_STOP) { /* should not happen here? */ LF_StopFollowing(); SHELL_SendString((unsigned char*)"Failure, stopped!!!\r\n"); return ERR_FAILED; /* error case */ } else if (turn==TURN_LEFT180){ TURN_Turn(TURN_LEFT180, NULL); SHELL_ParseCmd((unsigned char*)"drive mode none"); } else if (turn==TURN_RIGHT90){ TURN_Turn(TURN_RIGHT90, NULL); SHELL_ParseCmd((unsigned char*)"drive mode none"); } else if (turn==TURN_LEFT90){ TURN_Turn(TURN_LEFT90, NULL); SHELL_ParseCmd((unsigned char*)"drive mode none"); }else if (turn==TURN_FINISHED){ SHELL_ParseCmd((unsigned char*)"drive mode none"); LF_StopFollowing(); }else { /* turn or do something */ /*! \todo Extend if necessary */ return ERR_OK; /* turn finished */ } }