Diff: main.cpp

Revision:

32:e984b7959cb0

Parent:

31:2c54f8304ef5

Child:

33:836ab2089565

--- a/main.cpp	Tue May 22 23:35:53 2018 +0000
+++ b/main.cpp	Wed May 23 01:34:36 2018 +0000
@@ -54,7 +54,7 @@
     
     volatile int start = 0;
     
-    const int debuging = 1;
+    const int debuging = 0;
     
     const int MOVE = 1;
     const int LEFT = 2;
@@ -163,6 +163,8 @@
                     junction[j] = 0;
                     printf("Kreuzung %d Schritt %d geloscht\n", j, r);
                     j -= 1;
+                    
+                    bool looping = false;
                 
                     while (junction[j] <= r )  {
                     
@@ -172,8 +174,10 @@
                         
                             switch (route[r]) {
                                 case MOVE: 
+                                    if (looping == false) {
                                     motion.runTask(route, r, true, junction[j]);
                                     if (debuging == 1) printf("-Schritt: %d, Befehl: %d\n", r, route[r]);
+                                    }
                                     r--;
                                     break;
                                 case LEFT:
@@ -197,6 +201,15 @@
                             }else if (route[r] == RIGHT) {
                             
                                 route[r] = LEFT;
+                                
+                            }else if (junction[j] == r-1 && route[r] == MOVE) {
+                                
+                                looping = true;
+                                
+                            }else if (junction[j] == r-2 && route[r] == MOVE && route[junction[j]] != MOVE) {
+                                
+                                route[r] = 0;
+                                r--;
                             }
                         
                             motion.runTask(route, r, true, junction[j]); 
@@ -247,6 +260,7 @@
                     junction[j] = 0;
                     if (debuging == 1) printf("Kreuzung %d Schritt %d geloscht\n", j, r);
                     j -= 1;
+                    bool looping = false;
                 
                     while (junction[j] <= r )  {
                     
@@ -256,8 +270,10 @@
                         
                             switch (route[r]) {
                                 case MOVE: 
+                                    if (looping == false) {
                                     motion.runTask(route, r, true, junction[j]);
                                     if (debuging == 1) printf("-Schritt: %d, Befehl: %d\n", r, route[r]);
+                                    }
                                     r--;
                                     break;
                                 case LEFT:
@@ -281,6 +297,15 @@
                             }else if (route[r] == RIGHT) {
                             
                                 route[r] = LEFT;
+                                
+                            }else if (junction[j] == r-1 && route[r] == MOVE) {
+                                
+                                looping = true;
+                                
+                            }else if (junction[j] == r-2 && route[r] == MOVE && route[junction[j]] != MOVE) {
+                                
+                                route[r] = 0;
+                                r--;
                             }
                         
                             motion.runTask(route, r, true, junction[j]);