98 lines
2.5 KiB
C
98 lines
2.5 KiB
C
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#include "app_bus.h"
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#include "app_line_seek.h"
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#include "block_detect.h"
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#include "buzzer.h"
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#include "led.h"
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#include "line_seek.h"
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#include "motor.h"
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#include "path_plan.h"
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#include "syn6288.h"
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typedef enum
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{
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RUNNING, // <20><>·<EFBFBD><C2B7><EFBFBD><EFBFBD>Ӫ
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READY_TO_PARK, // <><D7BC><EFBFBD><EFBFBD>վͣ<D5BE><CDA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><D7BC><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>
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PARKING, // <20><>վͣ<D5BE><CDA3>
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WAIT_PASSENGER, // <20>Ⱥ<EFBFBD><C8BA>˿<EFBFBD>
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STOP // ͣ<><CDA3>
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} BusState;
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static BusState state;
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static int current_station;
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char* stations[] = {"̫ƽվ", "<EFBFBD><EFBFBD><EFBFBD>Ͻ<EFBFBD><EFBFBD><EFBFBD>վ", "<EFBFBD><EFBFBD>ҵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>վ", "<EFBFBD>յ<EFBFBD>վ"};
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void App_Bus(void)
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{
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// printf("bus_state:%d\n", state);
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LineSeek_GetStatusStr();
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switch (state)
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{
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case RUNNING: // <20><>·<EFBFBD><C2B7><EFBFBD><EFBFBD>Ӫ
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{
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LineSeek_Start();
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if (Has_Block(FRONT)) // ǰ<><C7B0><EFBFBD><EFBFBD><EFBFBD>ϰ<EFBFBD><CFB0>ͣ<EFA3AC><CDA3>
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{
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state = STOP;
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}
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else if (Has_Block(RIGHT_FRONT)) // <20><>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD>ϰ<EFBFBD><CFB0><EFA3AC><D7BC>ͣ<EFBFBD><CDA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>
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{
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state = READY_TO_PARK;
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// state = WAIT_PASSENGER;
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}
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else if (Has_Block(LEFT_FRONT)) // <20><>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD>ϰ<EFBFBD><CFB0><EFBFBD><EFA3AC>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>
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{
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Direction nextDirs[] = {RIGHT, RIGHT};
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ReplacePathStep(nextDirs, 2);
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}
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break;
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}
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case READY_TO_PARK: // <><D7BC><EFBFBD><EFBFBD>վͣ<D5BE><CDA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><D7BC><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>
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{
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if (LineSeek_Equals("0xxx")) // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>·<EFBFBD>ߣ<EFBFBD><DFA3><EFBFBD>ת
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{
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Direction nextDirs[] = {LEFT, LEFT};
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ReplacePathStep(nextDirs, 2);
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state = RUNNING;
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}
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else if (LineSeek_Equals("xxx0")) // <20>ҷ<EFBFBD><D2B7><EFBFBD>·<EFBFBD>ߣ<EFBFBD><DFA3><EFBFBD>ת<EFBFBD><D7AA>վ
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{
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Direction nextDirs[] = {RIGHT, RIGHT};
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ReplacePathStep(nextDirs, 2);
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state = PARKING;
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}
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break;
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}
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case PARKING: // <20><>վͣ<D5BE><CDA3>
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{
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if (Has_Block(RIGHT_FRONT)) // <20><>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD>ϰ<EFBFBD><CFB0>ͣ<EFA3AC><CDA3>
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{
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state = WAIT_PASSENGER;
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}
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break;
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}
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case WAIT_PASSENGER: // <20>Ⱥ<EFBFBD><C8BA>˿<EFBFBD>
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{
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// TODO: <20><><EFBFBD>ӳ˿͵ȴ<CDB5><C8B4><EFBFBD>
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LineSeek_Stop();
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SYN_FrameInfo(0, stations[current_station]);
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BUZZER_StartNTimes(3, 500, 500);
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MOTOR_Stop();
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HAL_Delay(5000);
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current_station++;
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state = RUNNING;
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break;
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}
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case STOP: // ͣ<><CDA3>
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{
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LineSeek_Stop();
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break;
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}
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default:
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break;
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}
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App_LineSeek();
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}
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