Texas State IEEE / Mbed 2 deprecated R5

Code to run the microcontrollers on the R5 competition bot

Dependencies:   LineSensors mbed

r5map.h@15:150ec9448efc, 2015-04-18 (annotated)

Committer:
Hypna
Date:
Sat Apr 18 02:54:55 2015 +0000
Revision:
15:150ec9448efc
experiment

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Hypna 15:150ec9448efc 1 #ifndef R5_MAP
Hypna 15:150ec9448efc 2 #define R5_MAP
Hypna 15:150ec9448efc 3
Hypna 15:150ec9448efc 4 #include <vector>
Hypna 15:150ec9448efc 5
Hypna 15:150ec9448efc 6 using namespace std;
Hypna 15:150ec9448efc 7
Hypna 15:150ec9448efc 8 struct position
Hypna 15:150ec9448efc 9 {
Hypna 15:150ec9448efc 10 position(int xx = 0, int yy = 0) : x(xx), y(yy) {}
Hypna 15:150ec9448efc 11 inline bool operator==(const typename ::position& rhs){return ((x==rhs.x) && (y==rhs.y)); }
Hypna 15:150ec9448efc 12 inline bool operator!=(const typename ::position& rhs){return !operator==(rhs);}
Hypna 15:150ec9448efc 13 int x,y;
Hypna 15:150ec9448efc 14 };
Hypna 15:150ec9448efc 15
Hypna 15:150ec9448efc 16 enum wallState { OPEN, CLOSED, UNKNOWN };
Hypna 15:150ec9448efc 17 enum direction { NORTH, EAST, SOUTH, WEST };
Hypna 15:150ec9448efc 18
Hypna 15:150ec9448efc 19 struct Cell
Hypna 15:150ec9448efc 20 {
Hypna 15:150ec9448efc 21 Cell() : north(UNKNOWN), south(UNKNOWN), east(UNKNOWN), west(UNKNOWN), visited(false) {}
Hypna 15:150ec9448efc 22 wallState north;
Hypna 15:150ec9448efc 23 wallState south;
Hypna 15:150ec9448efc 24 wallState east;
Hypna 15:150ec9448efc 25 wallState west;
Hypna 15:150ec9448efc 26 bool visited ;
Hypna 15:150ec9448efc 27 int number;
Hypna 15:150ec9448efc 28 vector<char> symbols;
Hypna 15:150ec9448efc 29 };
Hypna 15:150ec9448efc 30
Hypna 15:150ec9448efc 31 class R5Map
Hypna 15:150ec9448efc 32 {
Hypna 15:150ec9448efc 33 public:
Hypna 15:150ec9448efc 34 R5Map(int conSize = DEFAULT_SIZE);
Hypna 15:150ec9448efc 35 void setPosition(position cell);
Hypna 15:150ec9448efc 36 void setStart(position newStart);
Hypna 15:150ec9448efc 37 void setFinish(position newFin);
Hypna 15:150ec9448efc 38 void setWall(position cell, direction dir, wallState state);
Hypna 15:150ec9448efc 39 void setCurWall(direction dir, wallState state);
Hypna 15:150ec9448efc 40 void setVisited(position cell);
Hypna 15:150ec9448efc 41 void setCurVisited();
Hypna 15:150ec9448efc 42 void addSymbol(position cell, char symbol);
Hypna 15:150ec9448efc 43 void addCurSymbol(char symbol);
Hypna 15:150ec9448efc 44 position getPosition() const;
Hypna 15:150ec9448efc 45 position getStart() const;
Hypna 15:150ec9448efc 46 position getFinish() const;
Hypna 15:150ec9448efc 47 wallState getWall(position cell, direction dir) const;
Hypna 15:150ec9448efc 48 wallState getCurWall(direction dir) const;
Hypna 15:150ec9448efc 49 bool getVisited(position cell) const;
Hypna 15:150ec9448efc 50 bool getCurVisited() const;
Hypna 15:150ec9448efc 51 vector<char> getSymbols(position cell) const;
Hypna 15:150ec9448efc 52 vector<char> getCurSymbols() const;
Hypna 15:150ec9448efc 53 int getSize() const;
Hypna 15:150ec9448efc 54 void printMap() const;
Hypna 15:150ec9448efc 55 ~R5Map();
Hypna 15:150ec9448efc 56
Hypna 15:150ec9448efc 57 private:
Hypna 15:150ec9448efc 58 static const int DEFAULT_SIZE = 5;
Hypna 15:150ec9448efc 59 Cell map[7][7];
Hypna 15:150ec9448efc 60 int size;
Hypna 15:150ec9448efc 61 position pos; //X,Y
Hypna 15:150ec9448efc 62 position start;
Hypna 15:150ec9448efc 63 position fin;
Hypna 15:150ec9448efc 64 };
Hypna 15:150ec9448efc 65
Hypna 15:150ec9448efc 66 #endif