Mouse code for the MacroRat
Diff: main.h
- Revision:
- 20:82836745332e
- Parent:
- 17:f713758f6238
- Child:
- 26:d20f1adac2d3
diff -r 7b66a518b6f8 -r 82836745332e main.h --- a/main.h Mon May 15 00:54:41 2017 +0000 +++ b/main.h Wed May 17 02:01:34 2017 +0000 @@ -85,4 +85,31 @@ QEI encoder0( PA_5, PB_3, NC, PULSES, QEI::X4_ENCODING ); QEI encoder1( PA_1, PA_0, NC, PULSES, QEI::X4_ENCODING ); +#define F_WALL 0x1 +#define L_WALL 0x2 +#define R_WALL 0x4 +#define B_WALL 0x8 + +int currDir = 100; // modulo this to keep track of the current direction of the mouse! +int wallArray[16][16] = {0}; // array to keep track of the walls +int mouseLoc[16][16] = {0}; // array to keep track of the mouse's current location +int manhattanDist[16][16] = { + {14, 13, 12, 11, 10, 9, 8, 7, 7, 8, 9, 10, 11, 12, 13, 14}, + {13, 12, 11, 10, 9, 8, 7, 6, 6, 7, 8, 9, 10, 11, 12, 13}, + {12, 11, 10, 9, 8, 7, 6, 5, 5, 6, 7, 8, 9, 10, 11, 12}, + {11, 10, 9, 8, 7, 6, 5, 4, 4, 5, 6, 7, 8, 9, 10, 11}, + {10, 9, 8, 7, 6, 5, 4, 3, 3, 4, 5, 6, 7, 8, 9, 10}, + {9, 8, 7, 6, 5, 4, 3, 2, 2, 3, 4, 5, 6, 7, 8, 9}, + {8, 7, 6, 5, 4, 3, 2, 1, 1, 2, 3, 4, 5, 6, 7, 8}, + {7, 6, 5, 4, 3, 2, 1, 0, 0, 1, 2, 3, 4, 5, 6, 7}, + {7, 6, 5, 4, 3, 2, 1, 0, 0, 1, 2, 3, 4, 5, 6, 7}, + {8, 7, 6, 5, 4, 3, 2, 1, 1, 2, 3, 4, 5, 6, 7, 8}, + {9, 8, 7, 6, 5, 4, 3, 2, 2, 3, 4, 5, 6, 7, 8, 9}, + {10, 9, 8, 7, 6, 5, 4, 3, 3, 4, 5, 6, 7, 8, 9, 10}, + {11, 10, 9, 8, 7, 6, 5, 4, 4, 5, 6, 7, 8, 9, 10, 11}, + {12, 11, 10, 9, 8, 7, 6, 5, 5, 6, 7, 8, 9, 10, 11, 12}, + {13, 12, 11, 10, 9, 8, 7, 6, 6, 7, 8, 9, 10, 11, 12, 13}, + {14, 13, 12, 11, 10, 9, 8, 7, 7, 8, 9, 10, 11, 12, 13, 14}, + }; + #endif \ No newline at end of file