Diff: ALGORITHM.hpp

Revision:

56:bc5345bc6650

diff -r e0e684531825 -r bc5345bc6650 ALGORITHM.hpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ALGORITHM.hpp	Mon Jul 16 10:51:47 2018 +0000
@@ -0,0 +1,129 @@
+/*
+This is the ALGORITHM class and it will be used tgo determine the move sequence the motors need to enact upon.
+*/
+
+#ifndef ALGORITHM_HPP//Header Guards Prevents Multiple includes
+#define ALGORITHM_HPP
+
+//Libraries and header includes
+#include "THREADS.hpp"
+#include "mbed.h"
+#include "rtos.h"
+#include "SERIAL.hpp"
+#include "COLOURS.hpp"
+
+enum Colours//The posible colours of each point on the cube map
+{
+    White,//Front
+    Red,//Upper
+    Orange,//Down
+    Blue,//Left
+    Green,//Right
+    Yellow//Back   
+};
+static Colours CubeMap[6][3][3];//The colours of each section on the cube map
+
+enum Moves//This is an enumeration of the different tpyes of moves which will be avalible
+{
+       CL,AL,
+       CF,AF,
+       CR,AR,
+       CB,AB,
+       CU,AU,
+       CD,AD
+       
+};
+class ALGORITHM                       //This creates a class called Led
+{ 
+public: 
+    
+    ALGORITHM(); //Constructor
+    ~ALGORITHM();//Destructor
+    void ALGORITHM_INIT();
+    void Find_edges();//Sets the internal variable to the location of all the pieces and the positions of them
+    void Find_Corners();//Finds the corners with the colour that is passed into them
+private:    
+    //Private member variables to prevent them being accessed externally 
+    //Data Pins
+    int _State;
+    //Pointers to the lists elements
+    int _White_Pointer_Edge;
+    int _Orange_Pointer_Edge;
+    int _Blue_Pointer_Edge;
+    int _Red_Pointer_Edge;
+    int _Green_Pointer_Edge;
+    int _Yellow_Pointer_Edge;
+    
+    int _White_Pointer_Corner;
+    int _Orange_Pointer_Corner;
+    int _Blue_Pointer_Corner;
+    int _Red_Pointer_Corner;
+    int _Green_Pointer_Corner;
+    int _Yellow_Pointer_Corner;    
+    //Lists with the positions of the colours
+    int _White_List_Edge[4];
+    int _Orange_List_Edge[4];
+    int _Blue_List_Edge[4];
+    int _Red_List_Edge[4];
+    int _Green_List_Edge[4];
+    int _Yellow_List_Edge[4];
+    
+    int _White_List_Corner[4];
+    int _Orange_List_Corner[4];
+    int _Blue_List_Corner[4];
+    int _Red_List_Corner[4];
+    int _Green_List_Corner[4];
+    int _Yellow_List_Corner[4];
+
+
+    //Private member functions
+    void _Find_edges_White();//Identify White edges
+    void _Find_Corners_White();//Identify White edges
+    void _Find_edges_Orange();//Identify White edges
+    void _Find_Corners_Orange();//Identify White edges
+    void _Find_edges_Blue();//Identify White edges
+    void _Find_Corners_Blue();//Identify White edges
+    void _Find_edges_Red();//Identify White edges
+    void _Find_Corners_Red();//Identify White edges
+    void _Find_edges_Green();//Identify White edges
+    void _Find_Corners_Green();//Identify White edges
+    void _Find_edges_Yellow();//Identify White edges
+    void _Find_Corners_Yellow();//Identify White edges
+};
+class SIDE                       //This creates a class called Led
+{ 
+public: 
+    
+    SIDE(); //Constructor
+    ~SIDE();//Destructor
+    int SIDE_type();
+    
+    void Set_Colours(int CP1,int CP2,int CP3,int CP4,int CP5,int CP6,int CP7,int CP8,int CP9);
+private:    
+    //Private member variables to prevent them being accessed externally 
+
+    //Positions of the cubelets
+    int _Cubelet_1_position;
+    int _Cubelet_2_position;
+    int _Cubelet_3_position;
+    int _Cubelet_4_position;
+    int _Cubelet_5_position;
+    int _Cubelet_6_position;
+    int _Cubelet_7_position;
+    int _Cubelet_8_position;
+    int _Cubelet_9_position;
+    
+    int _Cubelet_1_colour;
+    int _Cubelet_2_colour;
+    int _Cubelet_3_colour;
+    int _Cubelet_4_colour;
+    int _Cubelet_5_colour;
+    int _Cubelet_6_colour;
+    int _Cubelet_7_colour;
+    int _Cubelet_8_colour;
+    int _Cubelet_9_colour;
+  
+};
+
+
+#endif//ALGORITHM_HPP
\ No newline at end of file