Micromouse / Mbed 2 deprecated Main-codetest

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

flood_fill.cpp@12:4310fb637705, 2018-04-06 (annotated)

Committer:
x58alex41
Date:
Fri Apr 06 00:06:51 2018 +0000
Revision:
12:4310fb637705
Parent:
11:fb806a599444 
started gyro

Who changed what in which revision?

UserRevisionLine numberNew contents of line
x58alex41 11:fb806a599444 1 #include "flood_fill.h"
x58alex41 11:fb806a599444 2 maze::maze()
x58alex41 11:fb806a599444 3 :m_x(0),m_y(0),m_dir(up)
x58alex41 11:fb806a599444 4 {
x58alex41 11:fb806a599444 5 for(int i=0; i<7; i++) {
x58alex41 11:fb806a599444 6 for(int j=0; j<7; j++) {
x58alex41 11:fb806a599444 7 m_cells[i][j].dist=14-i-j;
x58alex41 12:4310fb637705 8 m_cells[i][15-j].dist=14-i-j;
x58alex41 12:4310fb637705 9 m_cells[15-i][j].dist=14-i-j;
x58alex41 12:4310fb637705 10 m_cells[15-i][16-j].dist=14-i-j;
x58alex41 11:fb806a599444 11 }
x58alex41 11:fb806a599444 12 }
x58alex41 11:fb806a599444 13 for(int i=0; i< 16; i++) {
x58alex41 12:4310fb637705 14 m_cells[i][0].down_clear=false;
x58alex41 12:4310fb637705 15 m_cells[i][15].up_clear=false;
x58alex41 11:fb806a599444 16 }
x58alex41 11:fb806a599444 17 for(int i=0; i< 16; i++) {
x58alex41 12:4310fb637705 18 m_cells[0][i].left_clear=false;
x58alex41 12:4310fb637705 19 m_cells[15][i].right_clear=false;
x58alex41 11:fb806a599444 20 }
x58alex41 11:fb806a599444 21
x58alex41 11:fb806a599444 22 }
x58alex41 11:fb806a599444 23
x58alex41 11:fb806a599444 24 void maze::update_cells(int x, int y)
x58alex41 11:fb806a599444 25 {
x58alex41 11:fb806a599444 26 int original_dist=m_cells[x][y].dist;
x58alex41 11:fb806a599444 27 bool value_found = false;
x58alex41 11:fb806a599444 28 //find the smallest distance in cardinal direction m_cellss and make current m_cells dist into that
x58alex41 11:fb806a599444 29 if(m_cells[x][y].right_clear) {
x58alex41 11:fb806a599444 30 m_cells[x][y].dist = m_cells[x+1][y].dist + 1;
x58alex41 11:fb806a599444 31 value_found = true;
x58alex41 11:fb806a599444 32 }
x58alex41 11:fb806a599444 33 if((m_cells[x][y].up_clear && m_cells[x][y].dist > m_cells[x][y+1].dist + 1) || !value_found) {
x58alex41 11:fb806a599444 34 m_cells[x][y].dist = m_cells[x][y+1].dist + 1;
x58alex41 11:fb806a599444 35 value_found = true;
x58alex41 11:fb806a599444 36 }
x58alex41 11:fb806a599444 37 if(( m_cells[x][y].left_clear && m_cells[x][y].dist > m_cells[x-1][y].dist + 1) || !value_found) {
x58alex41 11:fb806a599444 38 m_cells[x][y].dist = m_cells[x-1][y].dist + 1;
x58alex41 11:fb806a599444 39 value_found = true;
x58alex41 11:fb806a599444 40 }
x58alex41 11:fb806a599444 41 if((m_cells[x][y].down_clear && m_cells[x][y].dist > m_cells[x][y-1].dist + 1) || !value_found) {
x58alex41 11:fb806a599444 42 m_cells[x][y].dist = m_cells[x][y-1].dist + 1;
x58alex41 11:fb806a599444 43 value_found = true;
x58alex41 11:fb806a599444 44 }
x58alex41 11:fb806a599444 45
x58alex41 11:fb806a599444 46 // if m_cells dist changed, need to adjust neighboring cell(s)
x58alex41 11:fb806a599444 47 if(original_dist!=m_cells[x][y].dist) {
x58alex41 11:fb806a599444 48 if(m_cells[x][y].up_clear && (m_cells[x][y].dist <= m_cells[x][y+1].dist))
x58alex41 11:fb806a599444 49 update_cells(x,y+1);
x58alex41 11:fb806a599444 50 if(m_cells[x][y].down_clear && (m_cells[x][y].dist <= m_cells[x][y-1].dist))
x58alex41 11:fb806a599444 51 update_cells(x,y-1);
x58alex41 11:fb806a599444 52 if(m_cells[x][y].right_clear && (m_cells[x][y].dist <= m_cells[x+1][y].dist))
x58alex41 11:fb806a599444 53 update_cells(x+1,y);
x58alex41 11:fb806a599444 54 if(m_cells[x][y].left_clear && (m_cells[x][y].dist <= m_cells[x-1][y].dist))
x58alex41 11:fb806a599444 55 update_cells(x-1,y);
x58alex41 11:fb806a599444 56 }
x58alex41 11:fb806a599444 57 }