#include <conio.h>
#include <unistd.h>
#include <dbutton.h>
#include <dsensor.h>
#include <dmotor.h>
#include <sys/tm.h>
#include <rom/system.h>
#include <time.h>
#include <stdlib.h>

void motor_control(void);
void forward_run(void);//20
void direction_change(void);//20
void obstacle_handling(void);//20
void change_driving_command(int , enum dir_t, int, long int);
time_t time0;
enum dir_t{turn_left=0, turn_right, forward, backward, stop, puzzle };

struct driving_command
{
int priority;
enum dir_t direction;
int speed;
long int duration;
}command;
////////////////////////////////////////
// Main Function
int main()
{
srandom(sys_time);
command.priority = 0;
command.speed= 200;
command.duration = 100;
command.direction = forward;
time0 = sys_time;
// Infinite Loop
while(1)
{
forward_run();//20
direction_change();//15
obstacle_handling();//20
motor_control();
time0=time0 + 100;
msleep(time0-sys_time);
}
return 0;
}
/////////////////////////////////////////////////////
//Change Driving Command Function
void change_driving_command(int prio, enum dir_t dir, int speed, long
int dur)
{
if (command.priority <=prio)
{
command.priority = prio;
command.speed= speed;
command.duration = dur;
command.direction = dir;
}
}
////////////////////////////////////////////////////
//Obstacle Handling Function Uses Touch Sensors
void obstacle_handling(void)
{
if (TOUCH_1 !=0)
{
change_driving_command(2,1,100,20);//(int prio = 3, enum dir_t dir =
turn_right, int speed =100, long int dur = 25);
}

if (TOUCH_3 !=0)
{
change_driving_command(2,0,100,20);//(int prio = 3, enum dir_t dir =
turn_left, int speed = 100, long int dur = 25);
}
}
///////////////////////////////////////////////////
//Forward Run Function
void forward_run(void)
{
change_driving_command(0,2,255,20);//(int prio = 0, enum dir_t dir =
forward, int speed = 200, long int dur = 25);
}
///////////////////////////////////////////////////
// Directon Change Function Changes the direction of vehicle randomly
void direction_change(void)
{
int enter = random()%15;
int rnd;
if (enter ==5)
{
rnd = random()%6;
change_driving_command(1,rnd,150,15);//(int prio = 2, enum dir_t dir
= rnd, int speed = 200, long int dur = 20);
}
enter=rnd;
}
////////////////////////////////////////////////////
// Motor Control Function Controlling the Motors Directly
void motor_control(void)
{
if (command.direction==0) //Turning Vehicle Left;
{
motor_a_speed (command.speed);
motor_c_speed (command.speed);
if(command.duration>=15)
{
motor_a_dir(rev);
motor_c_dir(rev);
}
else
{
motor_a_dir(rev);
motor_c_dir(fwd);
}
}
else if (command.direction==1) //Turning Vehicle Right;
{
motor_a_speed (command.speed);
motor_c_speed (command.speed);
if (command.duration>=15)
{
motor_a_dir(rev);
motor_c_dir(rev);
}
else
{
motor_a_dir(fwd);
motor_c_dir(rev);

}
}
else if (command.direction==2)
{
motor_a_speed (command.speed);
motor_c_speed (command.speed);
motor_a_dir(fwd);
motor_c_dir(fwd);
}
else if (command.direction ==3)
{
motor_a_speed (command.speed);
motor_c_speed (command.speed);
motor_a_dir(rev);
motor_c_dir(rev);
}
else if (command.direction ==4)
{
motor_a_speed (command.speed);
motor_c_speed (command.speed);
motor_a_dir(brake);
motor_c_dir(brake);
}
else
{
motor_a_speed (command.speed);
motor_c_speed (command.speed);
if(command.duration%2==0)
{
motor_a_dir(fwd);
motor_c_dir(rev);
}
else
{
motor_a_dir(rev);
motor_c_dir(fwd);
}
}
if (command.duration>0)
{
command.duration = command.duration-1;
}
if(command.duration==0)
{
command.priority =0;
}

asterisk_man

What sort of question is this? Either it's homework, in which case we don't do your homework for you but we can help with specific difficulties you're having, or ... well I can't really think of anything else it could really be.

divya_nuthakki

hello,
its an programm given by our teacher. but im new for C programming. if possibl u can explain

asterisk_man

i won't explain each line. i will answer specific questions you might ask though.

ScottGem

What about it don't you understand. Even if you are new, your teacher wouldn't have given it toyou if he didn't feel you could decipher it. Take it line by line and try to deciper it. If you have specific questions ask.