/*!
* \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;
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 (turn==TURN_FINISHED) {
*finished = TRUE;
LF_StopFollowing();
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 */
return ERR_OK; /* turn finished */
}
}
/*!
* \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 */
}
}
}
