/*! * \brief Performs a turn. * \return Returns TRUE while turn is still in progress. */ uint8_t MAZE_EvaluteTurn(bool *finished, bool lefthand) { REF_LineKind historyLineKind, currLineKind; TURN_Kind turn; *finished = FALSE; 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, lefthand); } if(turn != TURN_FINISHED){ MAZE_AddPath(turn); } if (turn == TURN_FINISHED) { MAZE_SimplifyPath(); MAZE_RevertPath(); MAZE_SetSolved(); TURN_Turn(TURN_LEFT180, NULL); *finished = TRUE; SHELL_SendString((unsigned char*) "MAZE: finished!\r\n"); return ERR_OK; } else if (turn == TURN_STRAIGHT) { /*! \todo Extend if necessary */ 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 { /* turn or do something */ /*! \todo Extend if necessary */ TURN_Turn(turn, NULL); return ERR_OK; /* turn finished */ } }
void MAZE_SetSolved(void) { isSolved = TRUE; /*! \todo here the path could be reverted */ MAZE_RevertPath(); MAZE_AddPath(TURN_STOP); /* add an action to stop */ }
void MAZE_SetSolved(void) { MAZE_SimplifyPath(); MAZE_RevertPath(); isSolved = TRUE; }
void MAZE_SetSolved(void) { isSolved = TRUE; MAZE_RevertPath(); MAZE_AddPath(TURN_STOP); /* add an action to stop */ }
void MAZE_SetSolved(void) { isSolved = TRUE; MAZE_RevertPath(); // Pfad umkehren MAZE_SimplifyPath(); // Pfad vereinfachen indexPath = 0; // Pfad Index Null }