Diff: main.h

Revision:

26:d20f1adac2d3

Parent:

20:82836745332e

Child:

29:ec2c5a69acd6

diff -r f827a8b7880e -r d20f1adac2d3 main.h
--- a/main.h	Sun May 21 08:52:43 2017 +0000
+++ b/main.h	Sun May 21 09:58:54 2017 +0000
@@ -5,6 +5,9 @@
 #include "ITG3200.h"
 #include "motor.h"
 #include "QEI.h"
+#include <stack>          // std::stack
+#include <utility>      // std::pair, std::make_pair
+
 #define PULSES 3520
 #define SAMPLE_NUM 100
 
@@ -72,6 +75,15 @@
 void disableButton3();
 void disableButton4();
 
+bool isWallInFront(int x, int y);
+bool isWallInBack(int x, int y);
+bool isWallOnRight(int x, int y);
+bool isWallOnLeft(int x, int y);
+
+int chooseNextMovement();
+void changeManhattanDistance(bool headCenter);
+bool hasVisited(int x, int y);
+
 int dipFlags = 0;
 #define BUTTON1_FLAG 0x1
 #define BUTTON2_FLAG 0x2
@@ -90,10 +102,20 @@
 #define R_WALL 0x4
 #define B_WALL 0x8
 
-int currDir = 100;              // modulo this to keep track of the current direction of the mouse!
+#define MAZE_LEN 16
+
+int mouseX = 0;
+int mouseY = 0;
+bool justTurned = false;
+bool goingToCenter = true;
+
+stack< pair<int, int> > cellsToVisit;
+
+int currDir = 102;              // modulo this to keep track of the current direction of the mouse!
+// 0 = forward, 1 = right, 2 = down, 3 = left
 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] = {
+int visitedCells[16][16] = {0};     // array to keep track of the mouse's current location
+int manhattanDistances[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},