RainbowTeam
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Dependencies: mbed
Diff: RouteCalculation.cpp
- Revision:
- 4:aff0722b4e50
- Parent:
- 2:cb6bae534500
- Child:
- 5:695c5531f65e
--- a/RouteCalculation.cpp Fri Apr 27 13:19:09 2018 +0000
+++ b/RouteCalculation.cpp Sat Apr 28 12:09:27 2018 +0000
@@ -17,15 +17,15 @@
Return: Neue momentanrichtung
*/
int directionControl(int turnDirection,int currentDirection){ // Links = 1, Rechts= 2
-if (turnDirection = 1){ //Drehung nach Links
+if (turnDirection == 1){ //Drehung nach Links
currentDirection = currentDirection -1;
- if(currentDirection = 0){
+ if(currentDirection == 0){
currentDirection = 4;
}
}
-if (turnDirection = 2){ //Drehung nach Rechts
+if (turnDirection == 2){ //Drehung nach Rechts
currentDirection = currentDirection +1;
- if(currentDirection = 5){
+ if(currentDirection == 5){
currentDirection = 1;
}
}
@@ -39,21 +39,24 @@
*/
int RouteCalculation(){
- map[20,10]; // Wird mit Werten des Mapping() gefüllt
+ int map[20][10]; // Wird mit Werten des Mapping() gefüllt
int X = 19;
int Y = 9;
int direction;
int actionIndex; // Number des Befehls
- char *route = (*char)malloc(2*sizeof(char)); // Speicher muss alloziert werden!!
+
+ //char **route;
+ char *route = (char *)malloc(sizeof(char)); // Speicher muss alloziert werden!!
+
// Pos in route[X,0]
- const int ZIEL = 0
- const int FULLDRIVE = 1
- const int TURNRIGHT = 2
- const int TURNLEFT = 3
- const int PLACETURN90 = 4
- const int LEER = 256
+ const char ZIEL = 0;
+ const char FULLDRIVE = 1;
+ const char TURNRIGHT = 2;
+ const char TURNLEFT = 3;
+ const char PLACETURN90 = 4;
+ const char LEER = 256;
// Pos in route[0,Y]
@@ -62,25 +65,27 @@
const int LENGHT = 1;
// Codierung Richtungenänderungen
- const int DREHUNG_LINKS = 1
- const int DREHUNG_RECHTS = 2
+ const int DREHUNG_LINKS = 1;
+ const int DREHUNG_RECHTS = 2;
- int actionIndex = 1;
+ actionIndex = 1;
int i = 0;
int counterS = 0;
int counterZ = 0;
-
+
+ char *str;
+
//SD-Karte lesen
printf("Reading from SD card...");
- fp = fopen("/sd/map.csv", "r");
+ FILE *fp = fopen("/sd/map.csv", "r");
if (fp != NULL) {
- char *str = fgets(fp); // liesst gesammten Inhalt von map.csv ein
+ fgets(str,500,fp); // liesst gesammten Inhalt von map.csv ein
char *ptr = strtok(str, ",;");
for (counterZ; counterZ < 9; counterZ++) {
for (counterS; counterS < 19; counterS++){
- map[counterS][counterZ]= atoi(ptr);
+ map[counterS][counterZ] = atoi(ptr);
ptr = strtok(NULL, ",;"); // zum nächsten Element wechseln
}
}
@@ -93,31 +98,31 @@
//-----------------------------------------------------------------------
- if (map[X-1, Y-1] == 0){
- route[actionIndex,TYPE] = PLACETURN90;
+ if (map[X-1][ Y-1] == 0){
+ route[actionIndex][TYPE] = PLACETURN90;
direction = 1;
}else{
- route[actionIndex,TYPE] = FULLDRIVE;
+ route[actionIndex][TYPE] = FULLDRIVE;
direction = 4;
}
- if(route[actionIndex,TYPE] == FULLDRIVE){
- while(map[X-1, Y] == 0){
+ if(route[actionIndex][TYPE] == FULLDRIVE){
+ while(map[X-1][Y] == 0){
if(X >= 1 | X <= 19){
X = X -2;
i = i + 1;
}
}
- route[actionIndex,LENGHT] = i;
+ route[actionIndex][LENGHT] = i;
actionIndex = actionIndex +1;
}
- while (map[X,Y] != 100){ // Ziel = Abbruchbedingung
+ while (map[X][Y] != 100){ // Ziel = Abbruchbedingung
i = 0;
// ------------------------------------------------------------------------------------------- Grade Strecken fahren
switch (direction){
- case 1: while(map[X-1,Y-1 == 0]){ // Gegen oben
+ case 1: while(map[X-1][Y-1] == 0){ // Gegen oben
if (Y >= 1 | Y <= 7){
Y = Y - 2;
i = i + 1;
@@ -125,7 +130,7 @@
}
break;
- case 2: while(map[X,Y-1 == 0]){ // Gegen rechts
+ case 2: while(map[X][Y-1] == 0){ // Gegen rechts
if (Y >= 1 | Y <= 19){
X = X + 2;
i = i + 1;
@@ -133,7 +138,7 @@
}
break;
- case 3: while(map[X,Y == 0]){ // Gegen unten
+ case 3: while(map[X][Y] == 0{ // Gegen unten
if (Y >= 1 | Y <= 7){
Y = Y + 2;
i = i + 1;
@@ -141,7 +146,7 @@
}
break;
- case 4: while(map[X-1,Y == 0]){ // Gegen rechts
+ case 4: while(map[X-1][Y] == 0){ // Gegen rechts
if (Y >= 1 | Y <= 19){
X = X - 2;
i = i + 1;
@@ -150,79 +155,79 @@
break;
}
actionIndex = actionIndex + 1; // Zur nächstesten Aktion
- char *route = (*char)realloc(2*sizeof(char)); // Speicher für neue Aktion initialisieren
- route[actionIndex,TYPE] = FULLDRIVE; // Fahrmodus auf geradeausfahren
- route[actionIndex,LENGHT] = i; // Länge der Strecke eintragen
+ char *route = (char *)realloc(2*sizeof(char)); // Speicher für neue Aktion initialisieren
+ route[actionIndex][TYPE] = FULLDRIVE; // Fahrmodus auf geradeausfahren
+ route[actionIndex][LENGHT] = i; // Länge der Strecke eintragen
// ------------------------------------------------------------------------------------------- Drehungen fahren
switch(direction){
case 1: // Roboter gegen oben ausgerichtet
- if(map[X,Y-1] == 0){ // gegen Rechts abbiegen
+ if(map[X][Y-1] == 0){ // gegen Rechts abbiegen
actionIndex = actionIndex + 1; // Zur nächstesten Aktion
- char *route = (*char)realloc(2*sizeof(char)); // Speicher für neue Aktion initialisieren
- route[actionIndex, TYPE] = TURNRIGHT;
- route[actionIndex, LENGHT] = LEER;
+ char *route = (char*)realloc(2*sizeof(char)); // Speicher für neue Aktion initialisieren
+ route[actionIndex][ TYPE] = TURNRIGHT;
+ route[actionIndex][ LENGHT] = LEER;
direction = directionControl(DREHUNG_RECHTS, direction);
}
- if(map[X-1,Y] == 0){ // gegen Links abbiegen
+ if(map[X-1][Y] == 0){ // gegen Links abbiegen
actionIndex = actionIndex + 1;
- char *route = (*char)realloc(2*sizeof(char));
- route[actionIndex, TYPE] = TURNLEFT;
- route[actionIndex, LENGHT] = LEER;
+ char *route = (char *)realloc(2*sizeof(char));
+ route[actionIndex][ TYPE] = TURNLEFT;
+ route[actionIndex][ LENGHT] = LEER;
direction = directionControl(DREHUNG_LINKS, direction);
}
case 2: // Roboter gegen rechts ausgerichtet
- if(map[X-1,Y-1] == 0){ // gegen Oben abbiegen
+ if(map[X-1][Y-1] == 0){ // gegen Oben abbiegen
actionIndex = actionIndex + 1;
- char *route = (*char)realloc(2*sizeof(char));
- route[actionIndex, TYPE] = TURNLEFT;
- route[actionIndex, LENGHT] = LEER;
+ char *route = (char *)realloc(2*sizeof(char));
+ route[actionIndex][ TYPE] = TURNLEFT;
+ route[actionIndex][ LENGHT] = LEER;
direction = directionControl(DREHUNG_LINKS, direction);
}
- if(map[X,Y] == 0){ // gegen Unten abbiegen
+ if(map[X][Y] == 0){ // gegen Unten abbiegen
actionIndex = actionIndex + 1;
- char *route = (*char)realloc(2*sizeof(char));
- route[actionIndex, TYPE] = TURNRIGHT;
- route[actionIndex, LENGHT] = LEER;
+ char *route = (char *)realloc(2*sizeof(char));
+ route[actionIndex][ TYPE] = TURNRIGHT;
+ route[actionIndex][ LENGHT] = LEER;
direction = directionControl(DREHUNG_RECHTS, direction);
}
case 3: // Roboter gegen Unten ausgerichtet (Seitenverkehrt)
- if(map[X,Y-1] == 0){ // gegen Rechts abbiegen
+ if(map[X][Y-1] == 0){ // gegen Rechts abbiegen
actionIndex = actionIndex + 1;
- char *route = (*char)realloc(2*sizeof(char));
- route[actionIndex, TYPE] = TURNLEFT;
- route[actionIndex, LENGHT] = LEER;
+ char *route = (char *)realloc(2*sizeof(char));
+ route[actionIndex][ TYPE] = TURNLEFT;
+ route[actionIndex][ LENGHT] = LEER;
direction = directionControl(DREHUNG_LINKS, direction);
}
- if(map[X-1,Y] == 0){ // gegen Links abbiegen
+ if(map[X-1][Y] == 0){ // gegen Links abbiegen
actionIndex = actionIndex + 1;
- char *route = (*char)realloc(2*sizeof(char));
- route[actionIndex, TYPE] = TURNRIGHT;
- route[actionIndex, LENGHT] = LEER;
+ char *route = (char *)realloc(2*sizeof(char));
+ route[actionIndex][ TYPE] = TURNRIGHT;
+ route[actionIndex][ LENGHT] = LEER;
direction = directionControl(DREHUNG_RECHTS, direction);
}
case 4: // Roboter gegen links ausgerichtet
- if(map[X-1,Y-1] == 0){ // gegen oben abbiegen
+ if(map[X-1][Y-1] == 0){ // gegen oben abbiegen
actionIndex = actionIndex + 1;
- char *route = (*char)realloc(2*sizeof(char));
- route[actionIndex, TYPE] = TURNRIGHT;
- route[actionIndex, LENGHT] = LEER;
+ char *route = (char *)realloc(2*sizeof(char));
+ route[actionIndex][ TYPE] = TURNRIGHT;
+ route[actionIndex][ LENGHT] = LEER;
direction = directionControl(DREHUNG_RECHTS, direction);
}
- if(map[X,Y] == 0){ // gegen unten abbiegen
+ if(map[X][Y] == 0){ // gegen unten abbiegen
actionIndex = actionIndex + 1;
- char *route = (*char)realloc(2*sizeof(char));
- route[actionIndex, TYPE] = TURNLEFT;
+ char *route = (char *)realloc(2*sizeof(char));
+ route[actionIndex][ TYPE] = TURNLEFT;
direction = directionControl(DREHUNG_LINKS, direction);
}
}
- if (map[X,Y] == 100){
- char *route = (*char)realloc(2*sizeof(char));
+ if (map[X][Y] == 100){
+ char *route = (char *)realloc(2*sizeof(char));
actionIndex = actionIndex + 1;
- route[actionIndex, TYPE] = ZIEL;
- route[actionIndex, LENGHT] = ZIEL;
+ route[actionIndex][ TYPE] = ZIEL;
+ route[actionIndex][ LENGHT] = ZIEL;
}