task main()
{
//initializeRobot();
waitForStart();
wait10Msec(200);
servoChangeRate[elServo]=1;
servoChangeRate[ringPlacer]=1;
servo[elServo] = ES_POSITION_1;
servo[ringPlacer] = RP_POSITION_3;
servoChangeRate[elServo]=10;
servoChangeRate[ringPlacer]=10;
wait10Msec(200);
gostraight (2500, 80);
turnright (4350, 80);
gostraight (3650, 80);
wait10Msec(200);
servo[elServo] = ES_POSITION_2;
servo[ringPlacer] = RP_POSITION_2;
wait10Msec(200);
servo[ringPlacer] = RP_POSITION_3;
wait10Msec(200);
turnright(180, 80);
turnleft(180, 80);
turnright(180, 80);
turnleft(180, 80);
drival (-50, -50);
wait10Msec(200);
drival (0, 0);
drival (0, 0);
}
int main(void)
{
const unsigned short MainCycle = 60;
Init(MainCycle);
gostraight();
turnleft();
gostraight();
turnleft();
gostraight();
turnleft();
gostraight();
turnleft();
return 0;
}
static void approachintersection(void * unusedpointer, unsigned long carnumber)
{
int cardirection;
int destdirection;
int car_no=carnumber;
/*
* Avoid unused variable and function warnings.
*/
(void) unusedpointer;
/*
* cardirection is set randomly.
*/
cardirection = random() % 4;
destdirection = random() % 3;
destdirection = (cardirection + destdirection + 1) % 4;
if(cardirection-destdirection==2 || destdirection-cardirection==2) //if car wants to go straight
gostraight(cardirection,car_no,destdirection);
else if(destdirection-cardirection==1 || cardirection-destdirection==3) //if car wants to turn left
turnleft(cardirection,car_no,destdirection);
else //else the car wants to turn right
turnright(cardirection,car_no,destdirection);
}
static
void
approachintersection(void * unusedpointer,
unsigned long carnumber)
{
int car_direction;
int turn_direction;
/*
* Avoid unused variable and function warnings.
*/
(void) unusedpointer;
(void) carnumber;
(void) gostraight;
(void) turnleft;
(void) turnright;
/*
* cardirection is set randomly.
*/
car_direction = random() % 4;
turn_direction = random() % 3;
// we enforce the FIFO ordering for the cars approaching
// the intersection from the same direction
if (car_direction == 0) {// North
// north
P(from_north);
} else if (car_direction == 1) { //East
P(from_east);
} else if (car_direction == 2) {//South
P(from_south);
} else {
assert(car_direction == 3); //West
P(from_west);
}
// Step 1: approaching an intersection
// message(APPROACHING, carnumber, car_direction, turn_direction);
// kprintf("car: %d, from: %c, turn_direction: %d\n", carnumber, directions[car_direction], turn_direction);
// after we approached the intersection, we enter it
if (turn_direction == TURN_LEFT) { //0
turnleft(car_direction, carnumber);
} else if (turn_direction == TURN_RIGHT) { //1
turnright(car_direction, carnumber);
} else {
assert(turn_direction == GO_STRAIGHT); //2
gostraight(car_direction, carnumber);
}
V(join_sem);
}
static
void
approachintersection(void * unusedpointer,
unsigned long carnumber)
{
int cardirection;
/*
* Avoid unused variable and function warnings.
*/
(void) unusedpointer;
(void) carnumber;
(void) gostraight;
(void) turnleft;
(void) turnright;
/*
* cardirection is set randomly.
*/
//cardirection = 0 ---> from North
//cardirection = 1 ---> from East
//cardirection = 2 ---> from South
//cardirection = 3 ---> from West
cardirection = random() % 4;
//move = 0 ---> go straight
//move = 1 ---> go right
//move = 2 ---> go left
int move = random() % 3;
//lock the intersections if 3 cars are already inside
P(Slock);
if(move == 0)
gostraight(cardirection, carnumber);
else if(move == 1)
turnright(cardirection, carnumber);
else if(move == 2)
turnleft(cardirection, carnumber);
V(Slock);
}
