OX
hahaha
Dependencies: mbed
Diff: main.cpp
- Revision:
- 0:a291977ec0b1
- Child:
- 1:d8ce226c8c2e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Dec 05 18:31:43 2016 +0000
@@ -0,0 +1,791 @@
+#include "mbed.h"
+#include "bmu.h"
+
+
+InterruptIn lim(D3);
+InterruptIn rotate(D4);
+InterruptIn choose(D5);
+Ticker flipper;
+Ticker Update;
+
+bmuimu imu;
+
+Serial pc(USBTX,USBRX);
+Serial mas(D8,D2);
+Serial duino(PA_11, PA_12);
+
+Timer t;
+Timer timer;
+
+//*********************************************************************************************************************************
+//*********************************************************************************************************************************
+//*********************************************************************************************************************************
+// variable
+//*********************************************************************************************************************************
+//*********************************************************************************************************************************
+//*********************************************************************************************************************************
+bool anach = false;
+bool buttonState[3] = {0,0,0}; // button limit switchm rotate and choose state respectively.
+unsigned int county = 10; // county down.
+char data[50];
+char elem;
+int yyaaww;
+bool errorie = false; // store error in ambigous imu data.
+int helperRoll = 0, helperPitch=0,helperYaw=0;
+unsigned int indx = 0;
+unsigned int state = 0;
+int dete[50];
+int lis[50] = {1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30};
+
+// state 0 = initial / start.
+// 1 = waiting for limit switch.
+
+unsigned int turn = 0; // turn.
+
+unsigned int x = 0, y = 0, z = 0,lx=0,ly=0,lz=0;
+int winStatus = 0;
+
+
+
+int A , B , C , player , button;
+int WMbox[6];
+int map[5][5][5],rmap[5][5][5]; //store map.
+int Check1[5][5][5] , Check2[5][5][5]; //convert to x or o map.
+//*********************************************************************************************************************************
+//*********************************************************************************************************************************
+//*********************************************************************************************************************************
+// function
+//*********************************************************************************************************************************
+//*********************************************************************************************************************************
+//*********************************************************************************************************************************
+
+int Cross(int degree)
+ {
+ if (degree == 0)
+ {
+ return 1;
+ }else if (degree == 180)
+ {
+ return -1;
+ }else
+ {
+ return 0;
+ }
+ }
+
+int Zine(int degree)
+ {
+ if (degree == 90)
+ {
+ return 1;
+ }else if (degree == -90)
+ {
+ return -1;
+ }else
+ {
+ return 0;
+ }
+ }
+
+void Rise1()
+{
+ buttonState[0] = 1;
+}
+
+void Fall1()
+{
+ buttonState[0] = 0;
+}
+void Rise2()
+{
+ buttonState[1] = 1;
+}
+
+void Fall2()
+{
+ buttonState[1] = 0;
+}
+void Rise3()
+{
+ buttonState[2] = 1;
+}
+
+void Fall3()
+{
+ buttonState[2] = 0;
+}
+
+void UUpdate()
+{
+ imu.update();
+}
+
+void Sent(char arrayi[],float it,int siz)
+{
+ for (int i = 0;i<siz;i++)
+ {
+ mas.putc(char(arrayi[i]));
+ wait(it);
+ }
+}
+
+void getStr()
+{
+ while (mas.readable())
+ {
+
+ elem = mas.getc();
+ pc.printf("char is %d\n\r",elem);
+ if ((elem == '\n'))
+ {
+ pc.printf("string is %s\n\r",data);
+ for(int i=0;i<indx;i++)
+ {
+ if (indx > 2)
+ {
+ dete[i] = data[i];
+ }
+ }
+ for(int i=0;i<30;i++)
+ {
+ data[i] = '\0';
+ }
+ indx = 0;
+ break;
+ }else
+ {
+ data[indx] = elem;
+ indx += 1;
+ }
+
+ }
+}
+
+void LChackmape(){ //
+ if (t.read() > 1) {
+
+
+ duino.putc(lis[23]);
+
+ timer.reset();
+ }
+ }
+
+void LWin(){ //ชนะ
+ if ( timer.read() > 1) {
+ //pc.printf("Writing!\n\r");
+ duino.putc( lis[0]);
+ duino.putc( lis[1]);
+ duino.putc( lis[2]);
+ timer.reset();
+ }
+ }
+
+void LCountDown(int ixxii){ //นับเวลา
+ if ( timer.read() > 1) {
+ duino.putc(ixxii);
+ timer.reset();
+ }
+ }
+
+
+void LCorrect(){ //เช็คถูก
+ if ( timer.read() > 1) {
+ //pc.printf("Writing!\n\r");
+ duino.putc(lis[18]);
+ timer.reset();
+ }
+ }
+
+void LError(){ //
+ if ( timer.read() > 1) {
+ //pc.printf("Writing!\n\r");
+ duino.putc( lis[19]);
+ timer.reset();
+ }
+ }
+void LMapComplete(){ //ลงค่าเสร็จ
+ if ( timer.read() > 1) {
+ //pc.printf("Writing!\n\r");
+
+
+ duino.putc( lis[20]);
+
+
+ timer.reset();}}
+
+void LWbox(){ //ตัวหลัก
+ if ( timer.read() > 1) {
+ duino.putc( lis[21]);
+ timer.reset();
+ }
+ }
+
+void LRotateComplete(){ //หมุน
+ if ( timer.read() > 1) {
+ //pc.printf("Writing!\n\r");
+
+
+ duino.putc( lis[22]);
+
+
+ timer.reset();
+ }
+ }
+
+
+
+void LLose(){ //แพ้
+
+ if ( t.read() > 1) {
+ //pc.printf("Writing!\n\r");
+ duino.putc( lis[3]);
+ duino.putc( lis[4]);
+ duino.putc( lis[5]);
+ duino.putc( lis[6]);
+ t.reset();
+ }
+ if ( duino.readable())
+ {
+ //pc.printf("recieving %c",duino.getc());
+ }
+
+ }
+
+void Lose()
+{
+ LLose();
+ Sent("los\n",0.1,4);
+}
+
+void Win()
+{
+ LWin();
+ Sent("lwin\n",0.1,4);
+}
+
+
+
+bool chooseAnother()
+{
+ Sent("cho\n",0.1,4);
+ while(1)
+ {
+ if ((dete[0]=='c')&&(dete[1]=='h')&&(dete[2]=='0'))
+ {
+ return true;
+ }else if ((dete[0]=='c')&&(dete[1]=='h')&&(dete[2]=='x'))
+ {
+ return false;
+ }
+ }
+}
+
+bool anotherRotate()
+{
+ Sent("rot\n",0.1,4);
+ while(1)
+ {
+ if ((dete[0]=='r')&&(dete[1]=='o')&&(dete[2]=='t'))
+ {
+ return true;
+ }else if ((dete[0]=='r')&&(dete[1]=='o')&&(dete[2]=='x'))
+ {
+ return false;
+ }
+ }
+}
+
+
+int GetCoordinateX()
+ {
+ if ( WMbox[0] != -1)
+ {
+ return WMbox[0];
+ }else
+ {
+ return WMbox[3];
+ }
+ }
+
+ int GetCoordinateY()
+ {
+ if ( WMbox[1] != -1)
+ {
+ return WMbox[1];
+ }else
+ {
+ return WMbox[4];
+ }
+ }
+
+ int GetCoordinateZ()
+ {
+ if ( WMbox[2] != -1)
+ {
+ return WMbox[2];
+ }else
+ {
+ return WMbox[5];
+ }
+ }
+
+ void ChangeOX(int xx, int yy,int zz,int lx,int ly,int lz)
+ {
+ if (xx != -1)
+ {
+ WMbox[0] = xx;
+ WMbox[1] = yy;
+ WMbox[2] = zz;
+ WMbox[3] = lx;
+ WMbox[4] = ly;
+ WMbox[5] = lz;
+ }else
+ {
+ WMbox[0] = lx;
+ WMbox[1] = ly;
+ WMbox[2] = lz;
+ WMbox[3] = xx;
+ WMbox[4] = yy;
+ WMbox[5] = zz;
+ }
+ }
+
+ void Choose(int box)
+ {
+ if (box)
+ {
+ WMbox[0] = -1;
+ WMbox[1] = -1;
+ WMbox[2] = -1;
+ }else
+ {
+ WMbox[3] = -1;
+ WMbox[4] = -1;
+ WMbox[5] = -1;
+ }
+ }
+
+ void MapRotate(int role,int pitch,int yaw)
+ {
+ if ((pitch == 90) || (pitch == -90)) //{{1,0,0},{0,cosy,-siny},{0,siny,cosy}}{{cosx,0,+sinx},{0,1,0},{-sinx,0,cosx}}
+ {
+ for (int i=0;i<5;i++)
+ {
+ for (int j=0;j<5;j++)
+ {
+ for(int k=0;k<5;k++)
+ {
+ A = ((i-2)* Cross(pitch))+((k-2)* Zine(pitch));
+ B = ((j-2)* Cross(yaw))+((i-2)* Zine(pitch)* Zine(yaw))-((k-2)* Zine(yaw)* Cross(pitch));
+ C = ((j-2)* Zine(yaw))-((i-2)* Cross(yaw)* Zine(pitch))+((k-2)* Cross(yaw)* Cross(pitch));
+ rmap[i+2][j+2][k+2]= map[i][j][k];
+ }
+ }
+ }
+ }else if ((role == 90) || (role == -90)) // {{cosy,0,+siny},{0,1,0},{-siny,0,cosy}}{{1,0,0},{0,cosx,-sinx},{0,sinx,cosx}}
+ {
+ for (int i=0;i<5;i++)
+ {
+ for (int j=0;j<5;j++)
+ {
+ for(int k=0;k<5;k++)
+ {
+ A = ((i-2)* Cross(yaw)) + ((j-2)* Zine(role)* Zine(yaw)) +((k-2)* Zine(yaw)* Cross(role));
+ B = ((j-2)* Cross(role))-((k-2)* Zine(role));
+ C = -((i-2)* Zine(yaw))+((j-2)* Cross(yaw)* Zine(role))+((k-2)* Cross(yaw)* Cross(role));
+ rmap[i+2][j+2][k+2]= map[i][j][k];
+ }
+ }
+ }
+ }else
+ {
+ for (int i=0;i<5;i++)
+ {
+ for (int j=0;j<5;j++)
+ {
+ for(int k=0;k<5;k++)
+ {
+ A = ((i-2)* Cross(yaw))-((j-2)* Zine(yaw));
+ B = ((i-2)* Zine(yaw))+((j-2)* Cross(yaw));
+ C = (k-2);
+ rmap[i+2][j+2][k+2]= map[i][j][k];
+ }
+ }
+ }
+ }
+ for (int i=0;i<5;i++)
+ {
+ for (int j=0;j<5;j++)
+ {
+ for(int k=0;k<5;k++)
+ {
+ map[i][j][k]= rmap[i][j][k];
+ }
+ }
+ }
+ }
+
+ void UpdateMap(int i,int j,int k,int turner){
+ if(1){
+
+ switch(turner%2){ // เลือกตำแหน่งคนลง
+
+ case '0':
+ i-- , j-- , k--;
+ if( map[i][j][k] == 0){
+ map[i][j][k] = 5; // 5 = 'x'
+ turn++;
+ }
+ else{
+ Lose(); // ลงไมไ่ด้
+ }
+ case '1':
+ i-- , j-- , k--;
+ if( map[i][j][k] == 0){
+ map[i][j][k] = 6; // 6 = 'o'
+ turn++;
+ }
+ else{
+ Lose(); // ลงไมไ่ด้
+ }
+ }
+ if(i == 5 or j == 5 or k == 5){ // ลงเกิน map
+ Lose();
+ }
+
+ for(i=0 ; i<5 ; i++){ //แนว k
+ for(j=0 ; j<5 ; j++){
+ for(k=0 ; k<3 ; k++){
+ if( map[i][j][k] and map[i][j][k+1] and map[i][j][k+2] == 5){
+ Win();
+ }
+ else if( map[i][j][k] and map[i][j][k+1] and map[i][j][k+2] == 6){
+ Win();
+ }
+ }
+ }
+ }
+
+ for(i=0 ; i<5 ; i++){ // แนว j
+ for(k=0 ; k<5 ; k++){
+ for(j=0 ; j<3 ; j++){
+ if( map[i][j][k] and map[i][j+1][k] and map[i][j+2][k] == 5){
+ Win();
+ }
+ else if( map[i][j][k] and map[i][j+1][k] and map[i][j+2][k] == 6){
+ Win();
+ }
+ }
+ }
+ }
+
+ for(j=0 ; j<5 ; j++){ // แนว i
+ for(k=0 ; k<5 ; k++){
+ for(i=0 ; i<3 ; i++){
+ if( map[i][j][k] and map[i+1][j][k] and map[i+2][j][k] == 5){
+ Win();
+ }
+ else if( map[i][j][k] and map[i+1][j][k] and map[i+2][j][k] == 6){
+ Win();
+ }
+ }
+ }
+ }
+
+ for(i=0 ; i<5 ; i++){ // แนวทแยง i เป็นฐานขึ้น
+ for(j=0 ; j<3 ; j++){
+ for(k=0 ; k<3 ; k++){
+ if( map[i][j][k] and map[i][j+1][k+1] and map[i][j+2][k+2] == 5){
+ Win();
+ }
+ else if( map[i][j][k] and map[i][j+1][k+1] and map[i][j+2][k+2] == 6){
+ Win();
+ }
+ }
+ }
+ }
+
+ for(j=0 ; j<5 ; j++){ // แนวทแยง j เป็นฐานขึ้น
+ for(i=0 ; i<3 ; i++){
+ for(k=0 ; k<3 ; k++){
+ if( map[i][j][k] and map[i+1][j][k+1] and map[i+2][j][k+2] == 5){
+ Win();
+ }
+ else if( map[i][j][k] and map[i+1][j][k+1] and map[i+2][j][k+2] == 6){
+ Win();
+ }
+ }
+ }
+ }
+
+ for(k=0 ; k<5 ; k++){ // แนวทแยง k เป็นฐานขึ้น
+ for(i=0 ; i<3 ; i++){
+ for(j=0 ; j<3 ; j++){
+ if( map[i][j][k] and map[i+1][j+1][k] and map[i+2][j+2][k] == 5){
+ Win();
+ }
+ else if( map[i][j][k] and map[i+1][j+1][k] and map[i+2][j+2][k] == 6){
+ Win();
+ }
+ }
+ }
+ }
+
+ for(i=0 ; i<5 ; i++){ // แนวทแยง i เป็นฐานลง
+ for(j=0 ; j<3 ; j++){
+ for(k=4 ; k>1 ; k--){
+ if( map[i][j][k] and map[i][j+1][k-1] and map[i][j+2][k-2] == 5){
+ Win();
+ }
+ else if( map[i][j][k] and map[i][j+1][k-1] and map[i][j+2][k-2] == 6){
+ Win();
+ }
+ }
+ }
+ }
+
+ for(j=0 ; j<5 ; j++){ // แนวทแยง j เป็นฐานลง
+ for(i=0 ; i<3 ; i++){
+ for(k=4 ; k>1 ; k--){
+ if( map[i][j][k] and map[i+1][j][k-1] and map[i+2][j][k-2] == 5){
+ Win();
+ }
+ else if( map[i][j][k] and map[i+1][j][k-1] and map[i+2][j][k-2] == 6){
+ Win();
+ }
+ }
+ }
+ }
+
+ for(k=0 ; k<5 ; k++){ // แนวทแยง k เป็นฐานลง
+ for(i=0 ; i<3 ; i++){
+ for(j=4 ; j>1 ; j--){
+ if( map[i][j][k] and map[i+1][j-1][k] and map[i+2][j-2][k] == 5){
+ Win();
+ }
+ else if( map[i][j][k] and map[i+1][j-1][k] and map[i+2][j-2][k] == 6){
+ Win();
+ }
+ }
+ }
+ }
+ for(i=0 ; i<3 ; i++){ // แนวทแยงแบบตัด1
+ for(j=0 ; j<3 ; j++){
+ for(k=0 ; k<3 ; k++){
+ if( map[i][j][k] and map[i+1][j+1][k+1] and map[i+2][j+2][k+2] == 5){
+ Win();
+ }
+ else if( map[i][j][k] and map[i+1][j+1][k+1] and map[i+2][j+2][k+2] == 6){
+ Win();
+ }
+ }
+ }
+ }
+ for(i=4 ; i>1 ; i--){ // แนวทแยงแบบตัด2
+ for(j=0 ; j<3 ; j++){
+ for(k=0 ; k<3 ; k++){
+ if( map[i][j][k] and map[i-1][j+1][k+1] and map[i-2][j+2][k+2] == 5){
+ Win();
+ }
+ else if( map[i][j][k] and map[i-1][j+1][k+1] and map[i-2][j+2][k+2] == 6){
+ Win();
+ }
+ }
+ }
+ }
+ for(i=4 ; i>1 ; i--){ // แนวทแยงแบบตัด 3
+ for(j=4 ; j>1 ; j--){
+ for(k=0 ; k<3 ; k++){
+ if( map[i][j][k] and map[i-1][j-1][k+1] and map[i-2][j-2][k+2] == 5){
+ Win();
+ }
+ else if( map[i][j][k] and map[i-1][j-1][k+1] and map[i-2][j-2][k+2] == 6){
+ Win();
+ }
+ }
+ }
+ }
+ for(i=0 ; i<3 ; i++){ // แนวทแยงแบบตัด4
+ for(j=4 ; j>1 ; j--){
+ for(k=0 ; k<3 ; k++){
+ if( map[i][j][k] and map[i+1][j-1][k+1] and map[i+2][j-2][k+2] == 5){
+ Win();
+ }
+ else if( map[i][j][k] and map[i+1][j-1][k+1] and map[i+2][j-2][k+2] == 6){
+ Win();
+ }
+ }
+ }
+ }
+
+
+ }
+
+ }
+
+
+
+ void Check_map(){ //แสดง map
+ for( A=0 ; A<5 ; A++){
+ for( B=0 ; B<5 ; B++){
+ for( C=0 ; C<5 ; C++){
+ if( map[ A][ B][ C] == 5){
+ Check1[ A][ B][ C] = 1;
+ }
+ else if( map[ A][ B][ C] == 6){
+ Check2[ A][ B][ C] = 1;
+ }
+ else{
+ Check1[ A][ B][ C] = 0;
+ Check2[ A][ B][ C] = 0;
+ }
+ }
+ }
+ }
+ }
+
+
+void LInitial(){ //ลงค่าเสร็จ
+ if (timer.read() > 1) {
+
+
+ duino.putc(lis[20]);
+
+
+ timer.reset();
+ }
+ if (duino.readable()){
+ }
+}
+
+
+int main() // main program of
+{
+ lim.rise(&Rise1);
+ lim.fall(&Fall1);
+ rotate.rise(&Rise2);
+ rotate.fall(&Fall2);
+ choose.rise(&Rise3);
+ choose.fall(&Fall3);
+
+ LInitial(); // set initial pattern in led matrix.
+ wait(5); // wait 5 second for putting the box down to set initial position of imu.
+ //imu.Initial(); // set initial for imu.
+ Update.attach(&UUpdate,1.0); //timer interrupt for recieving bluetooth.
+ while((dete[0]!='i')||(dete[1]!='n')||(dete[2]!='i')||(dete[3]!='t'))
+ {
+ }
+ LWbox(); // set led to tell the player that the game is ready and this is the woman-box.
+ t.start();
+ while (1) // void loop.
+ {
+ state = 1;
+
+ if (buttonState[0] == 1) // if the boxes are connected.
+ {
+ x = GetCoordinateX();
+ y = GetCoordinateY();
+ z = GetCoordinateZ(); // get the position of main box which linking with map or the box not be choosen.
+ /*Sent("helr\n",0.1,5); // tell the other box, that we want helper roll.
+ while((dete[0]!='h')||(dete[1]!='e')||(dete[2]!='l')||(dete[3]!='r'))
+ {
+ pc.printf("srt %s\n\r",dete);
+ }
+ helperRoll = int( ((int(dete[4+ii])-48)*100)+((int(dete[5+ii])-48)*10)+(int(dete[6+ii])-48) ); //get roll from another box.
+ Sent("help\n",0.1,5); // tell the other box, that we want helper roll.
+ while((dete[0]!='h')||(dete[1]!='e')||(dete[2]!='l')||(dete[3]!='p'))
+ {
+ pc.printf("srt %s\n\r",dete);
+ }
+ helperPitch = int( ((int(dete[4+ii])-48)*100)+((int(dete[5+ii])-48)*10)+(int(dete[6+ii])-48) ); //get roll from another box.
+ Sent("hely\n",0.1,5); // tell the other box, that we want helper roll.
+ while((dete[0]!='h')||(dete[1]!='e')||(dete[2]!='l')||(dete[3]!='y'))
+ {
+ pc.printf("srt %s\n\r",dete);
+ }
+ helperYaw = int( ((int(dete[4+ii])-48)*100)+((int(dete[5+ii])-48)*10)+(int(dete[6+ii])-48) ); //get roll from another box.*/
+ //Sent("ok\n",0.1,3); //free the otherbox.
+
+ errorie = imu.Getposition(x,y,z);//,helperRoll,helperPitch,helperYaw); // calculate position from imu.
+ if (errorie)
+ {
+ LError();
+ while(buttonState[0] == 1)
+ {
+
+ }
+ }else
+ {
+ lx = x;
+ ly = y;
+ lz = z;
+ x = imu.X_pos;
+ y = imu.Y_pos;
+ z = imu.Z_pos; // get new possition.
+
+ UpdateMap(x,y,z,turn);//,helperRoll); //update new position in map.
+
+ ChangeOX(x,y,z,lx,ly,lz);
+
+ Sent("mapc\n",0.1,4); //map complete.
+ LMapComplete(); // show that this position is ok.
+ while(1)
+ {
+ anach = chooseAnother() ;// wheather thr others box is choosen.
+ if ((buttonState[2]==1) && (!anach))
+ {
+ Sent("ch1\n",0.1,4);
+
+ Choose(1); // choose main box.
+ }else if((buttonState[2]==0) && (anach))
+ {
+ Choose(0); // choose another box.
+
+ }else if(buttonState[2]==0)
+ {
+ if((buttonState[1]==0)||(anotherRotate())) // click buutton some rotate box.
+ {
+ state = 3;
+ while((buttonState[1]==0)&&(anotherRotate()))
+ {
+
+ }
+
+ yyaaww = imu.Rotate(); // check wheater rotating is error.
+ MapRotate(0,0,yyaaww);//imu.Rotate_Yaw); // private variable/arttribute in imu class.
+ LRotateComplete();
+ }
+ } //close choose or rotate.
+ } //close while true.
+ turn ++;
+ Sent("T++\n",0.1,4);
+ t.start();
+ state = 2;
+ //LChooseComplete();
+ } // close not error.
+
+ }else // if the boxes aren't connect.
+ {
+ if (county == 0) // time out.
+ {
+ t.stop();
+ Lose(); // lose state
+ }else if(turn != 0)
+ {
+ t.stop();
+ if (t.read() > 1.0);
+ {
+ t.start();
+ county -= 1; // time decreasing.
+ }
+ } // close check time
+ LCountDown(county);
+ Sent("Tur\n",0.1,4);
+ } // close boxes aren't connect.
+
+ } // close loop.
+
+
+
+} // close main.*/
\ No newline at end of file