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fsm_cases.ino
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/*
Team Id:2683
Author List: Ankur,Charvi
Filename:fsm_cases.ino
Theme: Ant Bot
Functions:return_case, left_traversal, right_traversal, CN_2_end, millis_delay,trash,ah0_trash_service,ah1_trash_service,pick,chk_c,got_it,supply
ah2_trash_service,ah3_trash_service,color_glow ,color_detect1,color_detect2,sendData0,sendData1,sendData2,sendData3,sendData4,sendData5,sendData6,sendData7,
sendData8,CN_2_start,start_2_CN.
Global Variables: None
*/
/*
* Function Name:right_turn
* Input: Initial state
* Output: None
* Logic: implementation for right turn at node.
* Example call : right_turn( state )
/*
/*###############################################################################################
#################################################################################################
------------------ program for taking right turn ---------------------*/
int right_turn(int state )
{
fwd_go = 11;
turn_go = 00;
flag_rgt = 0;
while (flag_rgt !=3 )
{
sensor_data();
if ( (state == 00) && flag_rgt ==0 )
{
if ((left >= 1 && center >= 1 && right >= 1) || (left >= 1 && center >= 1 && right >= 0) || (left >= 0 && center >= 1 && right >= 1) )
{
flag_rgt++;
turn=00;
state =01;//left motor
cases(state);
}
}
else if (state ==01 || flag_rgt == 0)
{
if (left >= 0 && center >= 1 && right >= 0)
{
flag_rgt = 3;
state =00;//left motor
cases(state);
}
else if ((left >= 1 && center >= 3 && right >= 1) ||(left >= 1 && center >= 3 && right >= 0) )
{
state =01;//right motor
cases(state);
}
else if((left >= 0 && center >= 3 && right >= 1) || (left >= 0 && center >= 0 && right >= 1) || (left >= 0 && center >= 0 && right >= 0) || (left >= 1 && center >= 0 && right >= 0) || (left >= 1 && center >= 3 && right >= 0))
{
state = 01;//left motor
cases(state);
}
}
}
return state;
}
/*-------------------- right turn function of the end here --------------------------------------*/
/*###############################################################################################
#################################################################################################
/*----------------------- end here --------------------------------------*/
int bit_read(int num)
{
if(bitRead(num, 6) == 0 && bitRead(num, 5) == 0)
{
if(bitRead(num, 7) == 1)
{ QAH = 0;
Serial.print("\n Queen AH is 0");}
SIM[0] = num;
}
else if(bitRead(num, 6) == 0 && bitRead(num, 5) == 1)
{
if(bitRead(num, 7) == 1)
{QAH = 1;
Serial.print("\n Queen AH is 1");}
SIM[1] = num;
}
else if(bitRead(num, 6) == 1 && bitRead(num, 5) == 0)
{
if(bitRead(num, 7) == 1)
{QAH = 2;
Serial.print("\n Queen AH is 2");}
SIM[2] = num;
}
else if(bitRead(num, 6) == 1 && bitRead(num, 5) == 1)
{
if(bitRead(num, 7) == 1)
{QAH = 3;
Serial.print("\n Queen AH is 3");}
SIM[3] = num;
}
}
int detect_aruco()
{
// The code below rotates the the two servo with defined angle in corresponding upward and downward direction by calling the function in defined class
// attaches the servo on pin 9 to the servo object
//################################DATA1################################
data = -1;
decrease(core,90,50);
Wire.onRequest(sendData1);
while(data == -1)
{
Wire.onReceive(receiveData);
}
// //Serial.print("###########################DATA REUCEIVED#################### \n");
//
// //Serial.print(data);
bit_read(data);
//################################DATA2################################
data=-1;
increase(core,50, 130);
Wire.onRequest(sendData2);
while(data == -1)
{
Wire.onReceive(receiveData);
}
// //Serial.print("###########################DATA REUCEIVED#################### \n");
//
// //Serial.print(data);
bit_read(data);
//################################180TURN################################
velocity(95,87);
turn_full = 180;
left_turn(state);
line_bck1(state);
//################################DATA3################################
data = -1;
Wire.onRequest(sendData4);
while(data == -1)
{
Wire.onReceive(receiveData);
}
// //Serial.print("###########################DATA REUCEIVED#################### \n");
//
// //Serial.print(data);
bit_read(data);
//################################DATA4################################
data = -1;
decrease(core,130, 45);
Wire.onRequest(sendData3);
while(data == -1)
{
Wire.onReceive(receiveData);
}
// //Serial.print("###########################DATA REUCEIVED#################### \n");
//
// //Serial.print(data);
bit_read(data);
//#################MOVE SERVO BACK TO ITS POSITION#########
increase(core,45, 90); // Servo back in
the_sequence_decider();
services();
for(int i = 0; i<4; i++)
{
Serial.print("\nSEQUENCE");
Serial.print(sequence[i]);
}
Serial.print("\nQAH");
Serial.print(QAH);
for(int i = 0; i<8; i++)
{
Serial.print("\n SERVICE REQUIRED");
Serial.print(service_required[i]);
}
cal_block_seq();
for(int i = 0; i<7; i++)
{
Serial.print("\n BLOCK SEQUENCE");
Serial.print(block_sequence[i]);
req_bl[i] = block_sequence[i];
}
}
/*###############################################################################################
#################################################################################################
------------------ detect_color function start here ----------------------------------*/
void detect_color()
{
data = -1;
Wire.onRequest(sendData5);
while(data == -1)
{
Wire.onReceive(receiveData);
}
Serial.print("DAta");
Serial.print(data);
}
/*-------------------- detect_color function of the end here --------------------------------------*/
/*###############################################################################################
#################################################################################################
------------------ pick_it function start here ----------------------------------*/
int pick_it()
{
if(face_side == 1){
int r = core.read();
if(r > 4){
decrease(core, r,4);}
else if (r<4){
increase(core, r ,4);}
}
else if (face_side == -1){
int r = core.read();
if(r < 178){
increase(core, r,178);}
else if (r>178){
decrease(core, r ,178);}
}
//increase(picker,30,150);
//increase(stopper,0,180);
increase(picker,30,170);
increase(griper,95,180);
decrease(picker,165,27,25);
decrease(griper,180,95,30);
// increase(stopper,10,180);
increase(picker,30,160);
decrease(stopper,180,0,25);
decrease(picker,160,27);
}
/*-------------------- pick_it function of the end here --------------------------------------*/
/*###############################################################################################
#################################################################################################
------------------ pick_it function start here ----------------------------------*/
int pick_it_up()
{
//increase(picker,30,150);
//increase(stopper,20,180);
if(face_side == 1){
int r = core.read();
if(r > 4){
decrease(core, r,4);}
else if (r<4){
increase(core, r ,4);}
}
else if (face_side == -1){
int r = core.read();
if(r < 178){
increase(core, r,178);}
else if (r>178){
decrease(core, r ,178);}
}
increase(picker,27,173);
increase(griper,95,180);
decrease(picker,173,30,25);
decrease(griper,180,155,50);
decrease(griper,155,95,5);
increase(stopper,0,180,0);
increase(picker,30,160);
decrease(stopper,180,0,20);
decrease(picker,160,30);
}
/*-------------------- pick_it function of the end here --------------------------------------*/
/*###############################################################################################
#################################################################################################
------------------ drop_it function start here ---------------------------------*/
void drop_it()
{
increase(griper,95,180);
increase(picker,30,170);
decrease(griper,180,95,5);
decrease(picker,170,30);
}
/*-------------------- drop_it function of the end here --------------------------------------*/
/*###############################################################################################
#################################################################################################
------------------ trash_it_up function start here ---------------------------------*/
void trash_it_up()
{
color_glow(4);
increase(picker,30,170);
increase(griper,95,180);
decrease(picker,170,50,20);
}
/*-------------------- trash_it_up function of the end here --------------------------------------*/
/*###############################################################################################
#################################################################################################
------------------ trash_it_down function start here ---------------------------------*/
void trash_it_down()
{
increase(picker,50,170,20);
decrease(griper,180,95,3);
decrease(picker,170,27);
}
int service_at_ah(int ah)
{
if ((bitRead(SIM[ah],0) == 0) && ((bitRead(SIM[ah],2) != 0) || (bitRead(SIM[ah],1) != 0)) && ((bitRead(SIM[ah],4) != 0) || (bitRead(SIM[ah],3) != 0)))
{
decrease(core,90,0); //drop at service 1
drop_it();
increase(core,0,180); //drop at service 2
drop_it();
decrease(core,180,90); //servo vapsi
}
if ((bitRead(SIM[ah],0) == 0) && ((bitRead(SIM[ah],2) == 0) && (bitRead(SIM[ah],1) == 0)) && ((bitRead(SIM[ah],4) != 0) || (bitRead(SIM[ah],3) != 0)))
{
increase(core,90,180);
drop_it();
decrease(core,180,90); //servo vapsi
}
if ((bitRead(SIM[ah],0) == 0) && ((bitRead(SIM[ah],2) != 0) || (bitRead(SIM[ah],1) != 0)) && ((bitRead(SIM[ah],4) == 0) && (bitRead(SIM[ah],3) == 0)))
{
decrease(core,90,0);
drop_it();
increase(core,0,90);
}
if ((bitRead(SIM[ah],0) == 1) && ((bitRead(SIM[ah],2) != 0) || (bitRead(SIM[ah],1) != 0)) && ((bitRead(SIM[ah],4) == 0) && (bitRead(SIM[ah],3) == 0)))
{
decrease(core,90,0);
drop_it();
increase(core,0,180);
trash_it_up();
decrease(core,180,90);
trash(ah);
trash_flag = 1;
}
if ((bitRead(SIM[ah],0) == 1) && ((bitRead(SIM[ah],2) == 0) && (bitRead(SIM[ah],1) == 0)) && ((bitRead(SIM[ah],4) != 0) || (bitRead(SIM[ah],3) != 0)))
{
increase(core,90,180);
drop_it();
decrease(core,180,0);
trash_it_up();
increase(core,0,90);
trash(ah);
trash_flag = 1;
}
if ((bitRead(SIM[ah],0) == 1) && ((bitRead(SIM[ah],2) == 0) && (bitRead(SIM[ah],1) == 0)) && ((bitRead(SIM[ah],4) == 0) && (bitRead(SIM[ah],3) == 0)))
{
decrease(core,90,0);
data = -1;
Wire.onRequest(sendData7);
while(data == -1)
{
Wire.onReceive(receiveData);
}
Wire.onRequest(sendData8);
data = 4;
if (data == 4)
{
trash_it_up();
increase(core,0,90);
trash(ah);
trash_flag = 1;
}
else
{
increase(core,90,180);
trash_it_up();
decrease(core,180,90);
trash(ah);
trash_flag = 1;
}
}
}
void the_sequence_decider()
{ Serial.print("In the SeQuhgfhdjhbvhdj");
switch(QAH)
{
case 0:
sequence[0] = 0;
sequence[1] = 3;
sequence[2] = 2;
sequence[3] = 1;
break;
case 1:
sequence[0] = 1;
sequence[1] = 2;
sequence[2] = 3;
sequence[3] = 0;
break;
case 2:
sequence[0] = 2;
sequence[1] = 1;
sequence[2] = 0;
sequence[3] = 3;
break;
case 3:
sequence[0] = 3;
sequence[1] = 0;
sequence[2] = 1;
sequence[3] = 2;
break;
case -1:
sequence[0] = 0;
sequence[1] = 3;
sequence[2] = 2;
sequence[3] = 1;
break;
}
// Serial.println(sequence[0]);
// Serial.println(sequence[1]);
// Serial.println(sequence[2]);
// Serial.println(sequence[3]);
}
void services()
{
Serial.print("\n In services");
/* for(i = 1; i<4; i++)
{ //SERVICE 1
Serial.print("i");
Serial.println(sequence[i]);
if(bitRead(SIM[sequence[i]], 2) == 0 && bitRead(SIM[sequence[i]],1) == 0)
service_required[k-1] = -1;
if(bitRead(SIM[sequence[i]], 4) == 0 && bitRead(SIM[sequence[i]], 3) == 0)
service_required[k] = -1;
if(bitRead(SIM[sequence[i]], 2) == 0 && bitRead(SIM[sequence[i]],1) == 1)
service_required[k-1] = 1;
if(bitRead(SIM[sequence[i]], 4) == 0 && bitRead(SIM[sequence[i]], 3) == 1)
service_required[k] = 1;
if(bitRead(SIM[sequence[i]], 2) == 1 && bitRead(SIM[sequence[i]], 1) == 0)
service_required[k-1] = 2;
if(bitRead(SIM[sequence[i]], 4) == 1 && bitRead(SIM[sequence[i]], 3) == 0)
service_required[k] = 2;
if(bitRead(SIM[sequence[i]], 2) == 1 && bitRead(SIM[sequence[i]], 1) == 1)
service_required[k-1] = 3;
if(bitRead(SIM[sequence[i]], 4) == 1 && bitRead(SIM[sequence[i]], 3) == 1)
service_required[k] = 3;
//SERVICE 2
// if(bitRead(SIM[sequence[i]], 4) == 0 && bitRead(SIM[sequence[i]], 3) == 0)
// service_required[k] = -1;
// if(bitRead(SIM[sequence[i]], 4) == 0 && bitRead(SIM[sequence[i]], 3) == 1)
// service_required[k] = 1;
// if(bitRead(SIM[sequence[i]], 4) == 1 && bitRead(SIM[sequence[i]], 3) == 0)
// service_required[k] = 2;
// if(bitRead(SIM[sequence[i]], 4) == 1 && bitRead(SIM[sequence[i]], 3) == 1)
// service_required[k] = 3;
k-=2;
}*/
//SERVICE 1
if(bitRead(SIM[sequence[0]], 2) == 0 && bitRead(SIM[sequence[0]], 1) == 0)
service_required[6] = -1;
if(bitRead(SIM[sequence[0]], 2) == 0 && bitRead(SIM[sequence[0]], 1) == 1)
service_required[6] = 1;
if(bitRead(SIM[sequence[0]], 2) == 1 && bitRead(SIM[sequence[0]], 1) == 0)
service_required[6] = 2;
if(bitRead(SIM[sequence[0]], 2) == 1 && bitRead(SIM[sequence[0]], 1) == 1)
service_required[6] = 3;
//SERVICE 2
if(bitRead(SIM[sequence[0]], 4) == 0 && bitRead(SIM[sequence[0]], 3) == 0)
service_required[7] = -1;
if(bitRead(SIM[sequence[0]], 4) == 0 && bitRead(SIM[sequence[0]], 3) == 1)
service_required[7] = 1;
if(bitRead(SIM[sequence[0]], 4) == 1 && bitRead(SIM[sequence[0]], 3) == 0)
service_required[7] = 2;
if(bitRead(SIM[sequence[0]], 4) == 1 && bitRead(SIM[sequence[0]], 3) == 1)
service_required[7] = 3;
//SERVICE 1
if(bitRead(SIM[sequence[1]], 2) == 0 && bitRead(SIM[sequence[1]], 1) == 0)
service_required[4] = -1;
if(bitRead(SIM[sequence[1]], 2) == 0 && bitRead(SIM[sequence[1]], 1) == 1)
service_required[4] = 1;
if(bitRead(SIM[sequence[1]], 2) == 1 && bitRead(SIM[sequence[1]], 1) == 0)
service_required[4] = 2;
if(bitRead(SIM[sequence[1]], 2) == 1 && bitRead(SIM[sequence[1]], 1) == 1)
service_required[4] = 3;
//SERVICE 2
if(bitRead(SIM[sequence[1]], 4) == 0 && bitRead(SIM[sequence[1]], 3) == 0)
service_required[5] = -1;
if(bitRead(SIM[sequence[1]], 4) == 0 && bitRead(SIM[sequence[1]], 3) == 1)
service_required[5] = 1;
if(bitRead(SIM[sequence[1]], 4) == 1 && bitRead(SIM[sequence[1]], 3) == 0)
service_required[5] = 2;
if(bitRead(SIM[sequence[1]], 4) == 1 && bitRead(SIM[sequence[1]], 3) == 1)
service_required[5] = 3;
//SERVICE 1
if(bitRead(SIM[sequence[2]], 2) == 0 && bitRead(SIM[sequence[2]], 1) == 0)
service_required[2] = -1;
if(bitRead(SIM[sequence[2]], 2) == 0 && bitRead(SIM[sequence[2]], 1) == 1)
service_required[2] = 1;
if(bitRead(SIM[sequence[2]], 2) == 1 && bitRead(SIM[sequence[2]], 1) == 0)
service_required[2] = 2;
if(bitRead(SIM[sequence[2]], 2) == 1 && bitRead(SIM[sequence[2]], 1) == 1)
service_required[2] = 3;
//SERVICE 2
if(bitRead(SIM[sequence[2]], 4) == 0 && bitRead(SIM[sequence[2]], 3) == 0)
service_required[3] = -1;
if(bitRead(SIM[sequence[2]], 4) == 0 && bitRead(SIM[sequence[2]], 3) == 1)
service_required[3] = 1;
if(bitRead(SIM[sequence[2]], 4) == 1 && bitRead(SIM[sequence[2]], 3) == 0)
service_required[3] = 2;
if(bitRead(SIM[sequence[2]], 4) == 1 && bitRead(SIM[sequence[2]], 3) == 1)
service_required[3] = 3;
//SERVICE 1
if(bitRead(SIM[sequence[3]], 2) == 0 && bitRead(SIM[sequence[3]], 1) == 0)
service_required[0] = -1;
if(bitRead(SIM[sequence[3]], 2) == 0 && bitRead(SIM[sequence[3]], 1) == 1)
service_required[0] = 1;
if(bitRead(SIM[sequence[3]], 2) == 1 && bitRead(SIM[sequence[3]], 1) == 0)
service_required[0] = 2;
if(bitRead(SIM[sequence[3]], 2) == 1 && bitRead(SIM[sequence[3]], 1) == 1)
service_required[0] = 3;
//SERVICE 2
if(bitRead(SIM[sequence[3]], 4) == 0 && bitRead(SIM[sequence[3]], 3) == 0)
service_required[1] = -1;
if(bitRead(SIM[sequence[3]], 4) == 0 && bitRead(SIM[sequence[3]], 3) == 1)
service_required[1] = 1;
if(bitRead(SIM[sequence[3]], 4) == 1 && bitRead(SIM[sequence[3]], 3) == 0)
service_required[1] = 2;
if(bitRead(SIM[sequence[3]], 4) == 1 && bitRead(SIM[sequence[3]], 3) == 1)
service_required[1] = 3;
// for(int i = 0; i<8; i++)
// {
// if(service_required[i]!= -1)
// {
// Serial.print(service_required[i]);
// Serial.print(",");}
// }
}
void cal_block_seq()
{
for(int i = 0, j = 0; i<8; i++)
{
if(service_required[i] != -1)
{
block_sequence[j] = service_required[i];
j++;
}
}
}
/*
* Function Name:sensor_data
* Input: None
* Output: None
* Logic: Reading the sensor data and mapping it for black line identification.
* Example call : sensor_data( state )
/
/*###############################################################################################
#################################################################################################
-----------------------function of the sensor data --------------------------------------*/
void sensor_data()
{
reading_i[0]=analogRead(sen_pin[0]); // read the value from left input pin
reading_i[1]=analogRead(sen_pin[1]); // read the value from center input pin
reading_i[2]=analogRead(sen_pin[2]); // read the value from right input pin
left = map(reading_i[0], min_left, max_left, 0, 4); //mapping the left function in fixed limit
center = map(reading_i[1], min_center, max_center, 0, 4);//mapping the center function in fixed limit
right = map(reading_i[2], min_right, max_right, 0, 4
); //mapping the right function in fixed limit
Serial.print("left= ");
Serial.print(left);
Serial.print("\t");
Serial.print("centre= ");
Serial.print(center);
Serial.print("\t");
Serial.print("right= ");
Serial.print(right);
Serial.print("\t ");
// i = 12;
// Serial.print(" i= ");
//
// Serial.print("\t ");
////
// Serial.print("i");
// Serial.print(i);
// Serial.print("\t");
//
Serial.print("flag_fwd= ");
Serial.print(flag_fwd);
Serial.print("\t");
Serial.print("flag_rgt= ");
Serial.print(flag_rgt);
Serial.print("\t");
Serial.print("flag_lft= ");
Serial.print(flag_lft);
Serial.print("\t");
//
Serial.print("flag_bck= ");
Serial.print(flag_bck);
Serial.print("\t");
// Serial.print("node= ");
//Serial.print(flag_lft);
Serial.print("\t \n");
}
/*-------------------- sensor_data function of the end here --------------------------------------*/
/*###############################################################################################
#################################################################################################
------------------ program to follow forward line to node turn ---------------------*/
int line_fwd(int state )
{
fwd_go = 11;
flag_fwd = 0;
while (flag_fwd != 9)
{
sensor_data();
current_time = millis();
if (left >= 1 && center >= 2 && right >= 1)
{
flag_fwd = 9;
state = 00;//stop
cases(state);
}
else if(fwd_go == 11)
{
if(left == 0 && center >= 1 && right == 0)
{
state = 11;//backward
cases(state);
}
else if (left >= 1 && center >= 2 && right >= 1)
{
flag_fwd= 9;
state = 00;//stop
cases(state);
}
else if(left >= 1 && center >= 1 && right == 0)
{
flag_fwd = 9;
state = 00 ;
cases(state);
}
else if(left == 0 && center >= 1 && right >= 1)
{
flag_fwd = 9 ;
state = 00;//left
cases(state);
}
else if(left >= 1 && center == 0 && right == 0)
{
//while((state == 11) && (millis()<current_time+5))
//{
state = 10;//right
cases(state);
//}
}
else if(left == 0 && center == 0 && right >= 3)
{
// while((state == 11) && (millis()<current_time+5))
//{
state = 01;//right
cases(state);
// }
}
else
{
state=11;//backward
cases(state);
}
}
else if (state == 01)
{
if ((left >= 1 && center >= 1 && right >= 1) || (left >= 1 && center >= 1 && right == 0) || (left >= 0 && center >= 1 && right >= 1))
{
flag_fwd = 9;
state = 00;//stop
cases(state);
}
else if(left == 0 && center >= 1 && right == 0)
{
state = 11;
cases(state);
}
else if(left >= 1 && center == 0 && right == 0)
{
state = 10;//right
cases(state);
}
}
else if (state == 10)
{
if ((left >= 1 && center >= 1 && right >= 1) || (left >= 1 && center >= 1 && right == 0) || (left >= 0 && center >= 1 && right >= 1))
{
flag_fwd = 9;
state = 00;//stop
cases(state);
}
else if(left == 0 && center >= 2 && right == 0)
{
state = 11;
cases(state);
}
else if (left == 0 && center == 0 && right >= 2)
{
state = 01;//left
cases(state);
}
}
}
return state;
}
/*-------------------- line follow function of the end here --------------------------------------*/
/*
* Function Name:line_bck
* Input: Initial state
* Output: None
* Logic:implementation for backward traversal.
* Example call : line_bck( state )
/
/*###############################################################################################
#################################################################################################
------------------ program to follow backward line to node turn ---------------------*/
int line_bck( int state )
{
fwd_go = 00 ; //backward
flag_bck =0;
i=20;
while (flag_bck != 9)
{
sensor_data();
if (state == 00)
{
if ((left >= 0 && center >= 1 && right >= 0) || (left >= 1 && center >= 1 && right >= 0) || (left >= 1 && center >= 0 && right >= 0) || (left >= 0 && center >= 0 && right >= 0) || (left >= 0 && center >= 0 && right >= 1) || (left >= 0 && center >= 1 && right >= 1) || (left >=1 && center >= 1 && right >= 1) )
{
flag_bck = 1;
state = 11;
cases(state);
}
}
else if (flag_bck == 1)
{
if( state == 11)
{
if(left == 0 && center >= 1 && right == 0)
{
flag_bck =2;
state = 11;//fordward
cases(state);
}
else if((left >= 1 && center >= 1 && right >= 1) || (left >= 1 && center >= 0 && right >= 1))
{
state = 00;//fordward
cases(state);
break;
}
else if( (left >= 3 && center == 0 && right == 0))
{
state = 01;//left
cases(state);
}
else if(left >= 1 && center >= 1 && right >= 0)
{
state = 00 ;
cases(state);
break;
}
else if( (left == 0 && center == 0 && right >= 3))
{
state = 10;//right
cases(state);
}
else if(left == 0 && center >= 1 && right >= 1)
{
state = 00 ;
cases(state);
break;
}
}
else if (state == 01)
{
if(left == 0 && center >= 1 && right == 0)
{
flag_bck =2;
state = 11;
cases(state);
}
else if((left >= 1 && center >= 1 && right >= 1) || (left >= 1 && center >= 0 && right >= 1))
{
flag_bck =9;
state = 00;
cases(state);
break;
}
else if((left >= 1 && center == 0 && right == 0))
{
state = 01;//left
cases(state);
}
else if(left >=1 && center >= 1 && right >= 0)
{
state = 00 ;
cases(state);
break;
}
}
else if (state == 10)
{
if(left == 0 && center >= 1 && right == 0)
{
flag_bck =2;
state = 11;
cases(state);
}
else if((left >= 1 && center >= 1 && right >= 1) || (left >= 1 && center >= 0 && right >= 1))
{
flag_bck = 9;
state = 00;
cases(state);
break;
}
else if( (left == 0 && center == 0 && right >= 2))
{
state = 10;//right
cases(state);
}
else if(left == 0 && center >= 1 && right >= 1)
{
state = 00 ;
cases(state);
break;
}