MacroRat
Mouse code for the MacroRat
Diff: main.cpp
- Revision:
- 41:56a34315dd75
- Parent:
- 40:465d2b565977
- Child:
- 42:75257e6c4c76
--- a/main.cpp Sun May 28 06:22:34 2017 +0000
+++ b/main.cpp Sun May 28 06:48:16 2017 +0000
@@ -160,11 +160,11 @@
receiverThreeReading = IRP_3.getSamples(100);
receiverFourReading = IRP_4.getSamples(100);
- serial.printf("R1: %f \t R4: %f \t R1Avg: %f \t R4Avg: %f\n", receiverOneReading, receiverFourReading, IRP_1.sensorAvg, IRP_4.sensorAvg);
- serial.printf("R2: %f \t R3: %f \t R2Avg: %f \t R3Avg: %f\n", receiverTwoReading, receiverThreeReading, IRP_2.sensorAvg, IRP_3.sensorAvg);
+ // serial.printf("R1: %f \t R4: %f \t R1Avg: %f \t R4Avg: %f\n", receiverOneReading, receiverFourReading, IRP_1.sensorAvg, IRP_4.sensorAvg);
+ // serial.printf("R2: %f \t R3: %f \t R2Avg: %f \t R3Avg: %f\n", receiverTwoReading, receiverThreeReading, IRP_2.sensorAvg, IRP_3.sensorAvg);
if (receiverOneReading >= IRP_1.sensorAvg * 2.5 || receiverFourReading >= IRP_4.sensorAvg * 2.5) {
- serial.printf("Front wall is there\n");
+ // serial.printf("Front wall is there\n");
if (currDir % 4 == 0) {
wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= F_WALL;
} else if (currDir % 4 == 1) {
@@ -178,7 +178,7 @@
if((receiverThreeReading < IRP_3.sensorAvg/5) && (receiverTwoReading < IRP_2.sensorAvg/5)) {
// do nothing, the walls are not there
} else if (receiverThreeReading < IRP_3.sensorAvg/LRAvg) { // right wall gone, left wall is there RED
- serial.printf("Left wall, mouseY: %d, mouseX: %d\n", mouseY, mouseX);
+ // serial.printf("Left wall, mouseY: %d, mouseX: %d, currDir = %d\n", mouseY, mouseX, currDir%4);
if (currDir % 4 == 0) {
wallArray[MAZE_LEN - 1 - mouseY][mouseX] |= L_WALL;
} else if (currDir % 4 == 1) {
@@ -189,7 +189,7 @@
wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= B_WALL;
}
} else if (receiverTwoReading < IRP_2.sensorAvg/LRAvg) { // left wall gone, right wall is there
- serial.printf("Right wall, mouseY: %d, mouseX: %d\n", mouseY, mouseX);
+ // serial.printf("Right wall, mouseY: %d, mouseX: %d\n", mouseY, mouseX);
if (currDir % 4 == 0) {
wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= R_WALL;
} else if (currDir % 4 == 1) {
@@ -472,11 +472,11 @@
receiverThreeReading = IRP_3.getSamples(100);
receiverFourReading = IRP_4.getSamples(100);
- serial.printf("R1: %f \t R4: %f \t R1Avg: %f \t R4Avg: %f\n", receiverOneReading, receiverFourReading, IRP_1.sensorAvg, IRP_4.sensorAvg);
- serial.printf("R2: %f \t R3: %f \t R2Avg: %f \t R3Avg: %f\n", receiverTwoReading, receiverThreeReading, IRP_2.sensorAvg, IRP_3.sensorAvg);
+ // serial.printf("R1: %f \t R4: %f \t R1Avg: %f \t R4Avg: %f\n", receiverOneReading, receiverFourReading, IRP_1.sensorAvg, IRP_4.sensorAvg);
+ // serial.printf("R2: %f \t R3: %f \t R2Avg: %f \t R3Avg: %f\n", receiverTwoReading, receiverThreeReading, IRP_2.sensorAvg, IRP_3.sensorAvg);
if (receiverOneReading >= IRP_1.sensorAvg * 2.5 || receiverFourReading >= IRP_4.sensorAvg * 2.5) {
- serial.printf("Front wall is there\n");
+ // serial.printf("Front wall is there\n");
if (currDir % 4 == 0) {
wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= F_WALL;
} else if (currDir % 4 == 1) {
@@ -490,7 +490,7 @@
if((receiverThreeReading < IRP_3.sensorAvg/5) && (receiverTwoReading < IRP_2.sensorAvg/5)) {
// do nothing, the walls are not there
} else if (receiverThreeReading < IRP_3.sensorAvg/LRAvg) { // right wall gone, left wall is there RED
- serial.printf("Left wall\n");
+ // serial.printf("Left wall\n");
if (currDir % 4 == 0) {
wallArray[MAZE_LEN - 1 - mouseY][mouseX] |= L_WALL;
} else if (currDir % 4 == 1) {
@@ -501,7 +501,7 @@
wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= B_WALL;
}
} else if (receiverTwoReading < IRP_2.sensorAvg/LRAvg) { // left wall gone, right wall is there
- serial.printf("Right wall\n");
+ // serial.printf("Right wall\n");
if (currDir % 4 == 0) {
wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= R_WALL;
} else if (currDir % 4 == 1) {
@@ -512,7 +512,7 @@
wallArray[MAZE_LEN - 1 - (mouseY)][mouseX] |= F_WALL;
}
} else if ((receiverTwoReading > ((IRP_2.sensorAvg)*averageDivUpper)) && (receiverThreeReading > ((IRP_3.sensorAvg)*averageDivUpper))) {
- serial.printf("Both walls \n");
+ // serial.printf("Both walls \n");
if (currDir %4 == 0){
wallArray[MAZE_LEN - 1 - mouseY][mouseX] |= R_WALL;
wallArray[MAZE_LEN - 1 - mouseY][mouseX] |= L_WALL;
@@ -532,19 +532,19 @@
bool isWallInFront(int x, int y)
{
- return (wallArray[MAZE_LEN - y - 1][x] & F_WALL);
+ return (wallArray[MAZE_LEN - y - 1][x] & F_WALL);
}
bool isWallInBack(int x, int y)
{
- return (wallArray[MAZE_LEN - y - 1][x] & B_WALL);
+ return (wallArray[MAZE_LEN - y - 1][x] & B_WALL);
}
bool isWallOnRight(int x, int y)
{
- return (wallArray[MAZE_LEN - y - 1][x] & R_WALL);
+ return (wallArray[MAZE_LEN - y - 1][x] & R_WALL);
}
bool isWallOnLeft(int x, int y)
{
- return (wallArray[MAZE_LEN - y - 1][x] & L_WALL);
+ return (wallArray[MAZE_LEN - y - 1][x] & L_WALL);
}
int chooseNextMovement()
@@ -680,76 +680,76 @@
}
}
} else if (currDir % 4 == 2) {
- if (mouseX - 1 >= 0 && !isWallOnRight(mouseX, mouseY)) {
+ if (mouseX - 1 >= 0 && !isWallOnLeft(mouseX, mouseY)) {
if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX - 1] <= minDistance) {
minDistance = manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX - 1];
dirToGo = 1;
}
}
- if (mouseX + 1 < MAZE_LEN && !isWallOnLeft(mouseX, mouseY)) {
+ if (mouseX + 1 < MAZE_LEN && !isWallOnRight(mouseX, mouseY)) {
if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX + 1] <= minDistance) {
minDistance = manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX + 1];
dirToGo = 2;
}
}
- if (mouseY - 1 >= 0 && !isWallInFront(mouseX, mouseY)) {
+ if (mouseY - 1 >= 0 && !isWallInBack(mouseX, mouseY)) {
if (manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX] <= minDistance) {
minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX];
dirToGo = 3;
}
}
- if (mouseY + 1 < MAZE_LEN && !isWallInBack(mouseX, mouseY)) {
+ if (mouseY + 1 < MAZE_LEN && !isWallInFront(mouseX, mouseY)) {
if (manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX] <= minDistance) {
minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX];
dirToGo = 4;
}
}
} else if (currDir % 4 == 1) {
- if (mouseY - 1 >= 0 && !isWallOnRight(mouseX, mouseY)) {
+ if (mouseY - 1 >= 0 && !isWallInBack(mouseX, mouseY)) {
if (manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX] <= minDistance) {
minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX];
dirToGo = 1;
}
}
- if (mouseY + 1 < MAZE_LEN && !isWallOnLeft(mouseX, mouseY)) {
+ if (mouseY + 1 < MAZE_LEN && !isWallInFront(mouseX, mouseY)) {
if (manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX] <= minDistance) {
minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX];
- serial.printf("Looks like the left wall was not there\n");
+ // serial.printf("Looks like the left wall was not there\n");
dirToGo = 2;
}
}
- if (mouseX + 1 < MAZE_LEN && !isWallInFront(mouseX, mouseY)) {
+ if (mouseX + 1 < MAZE_LEN && !isWallOnRight(mouseX, mouseY)) {
if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX + 1] <= minDistance) {
minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX + 1];
dirToGo = 3;
}
}
- if (mouseX - 1 >= 0 && !isWallInBack(mouseX, mouseY)) {
+ if (mouseX - 1 >= 0 && !isWallOnLeft(mouseX, mouseY)) {
if (manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX - 1] <= minDistance) {
minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX - 1];
dirToGo = 4;
}
}
} else if (currDir % 4 == 3) {
- if (mouseY + 1 < MAZE_LEN && !isWallOnRight(mouseX, mouseY)) {
+ if (mouseY + 1 < MAZE_LEN && !isWallInFront(mouseX, mouseY)) {
if (manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX] <= minDistance) {
minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY + 1)][mouseX];
dirToGo = 1;
}
}
- if (mouseY - 1 >= 0 && !isWallOnLeft(mouseX, mouseY)) {
+ if (mouseY - 1 >= 0 && !isWallInBack(mouseX, mouseY)) {
if (manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX] <= minDistance) {
minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY - 1)][mouseX];
dirToGo = 2;
}
}
- if (mouseX - 1 >= 0 && !isWallInFront(mouseX, mouseY)) {
+ if (mouseX - 1 >= 0 && !isWallOnLeft(mouseX, mouseY)) {
if (manhattanDistances[MAZE_LEN - 1 - mouseY][mouseX - 1] <= minDistance) {
minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX - 1];
dirToGo = 3;
}
}
- if (mouseX + 1 < MAZE_LEN && !isWallInBack(mouseX, mouseY)) {
+ if (mouseX + 1 < MAZE_LEN && !isWallOnRight(mouseX, mouseY)) {
if (manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX + 1] <= minDistance) {
minDistance = manhattanDistances[MAZE_LEN - 1 - (mouseY)][mouseX + 1];
dirToGo = 4;