/*!
* \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
}
