38 lines
1.0 KiB
C
38 lines
1.0 KiB
C
#include "zf_common_headfile.h"
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#include "gl_headfile.h"
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enum barrier_type_e barrier_type = BARRIER_NONE;
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void CheckBarrier() {
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if (barrier_type == BARRIER_NONE && Lpt0_found_barrier_in && !Lpt1_found_barrier_in && is_straight1) {
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barrier_type = BARRIER_LEFT_BEGIN;
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}
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if (barrier_type == BARRIER_NONE && !Lpt0_found_barrier_in && Lpt1_found_barrier_in && is_straight0) {
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barrier_type = BARRIER_RIGHT_BEGIN;
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}
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}
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void RunBarrier() {
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if (barrier_type == BARRIER_LEFT_BEGIN) // 左环开始，寻外直道右线
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{
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track_type = TRACK_RIGHT;
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}
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else if (barrier_type == BARRIER_LEFT_BEGIN && ((Lpt0_found_barrier && is_straight1) || Lpt0_found) )
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{
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barrier_type = BARRIER_NONE;
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track_type = TRACK_RIGHT;
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}
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if (barrier_type == BARRIER_RIGHT_BEGIN) // 左环开始，寻外直道右线
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{
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track_type = TRACK_LEFT;
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}
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else if (barrier_type == BARRIER_RIGHT_BEGIN && ((Lpt1_found_barrier && is_straight0) || Lpt1_found) )
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{
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barrier_type = BARRIER_NONE;
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track_type = TRACK_LEFT;
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}
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}
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