Texas State IEEE / Mbed 2 deprecated R5

Code to run the microcontrollers on the R5 competition bot

Dependencies:   LineSensors mbed

r5map.cpp@17:5046b27f5441, 2015-04-18 (annotated)

Committer:
jmar11
Date:
Sat Apr 18 03:02:28 2015 +0000
Revision:
17:5046b27f5441
Child:
19:9f4510646c9e
Jaime's library

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jmar11 17:5046b27f5441 1 #include "r5map.h"
jmar11 17:5046b27f5441 2 #include <iostream>
jmar11 17:5046b27f5441 3 #include <cstdlib>
jmar11 17:5046b27f5441 4
jmar11 17:5046b27f5441 5 R5Map::R5Map(int conSize) : size(conSize)
jmar11 17:5046b27f5441 6 {
jmar11 17:5046b27f5441 7 int cellCount = 1;
jmar11 17:5046b27f5441 8
jmar11 17:5046b27f5441 9 for(int i = 6; i >= 0; i--)
jmar11 17:5046b27f5441 10 {
jmar11 17:5046b27f5441 11 for(int j = 0; j < 7; j++)
jmar11 17:5046b27f5441 12 {
jmar11 17:5046b27f5441 13 map[j][i].number = cellCount++;
jmar11 17:5046b27f5441 14 }
jmar11 17:5046b27f5441 15 }
jmar11 17:5046b27f5441 16
jmar11 17:5046b27f5441 17 switch(size)
jmar11 17:5046b27f5441 18 {
jmar11 17:5046b27f5441 19 case 5 :
jmar11 17:5046b27f5441 20 start.x = 5;
jmar11 17:5046b27f5441 21 start.y = 0;
jmar11 17:5046b27f5441 22 fin.x = 0;
jmar11 17:5046b27f5441 23 fin.y = 5;
jmar11 17:5046b27f5441 24 pos = start;
jmar11 17:5046b27f5441 25 break;
jmar11 17:5046b27f5441 26 case 6 :
jmar11 17:5046b27f5441 27 start.x = 5;
jmar11 17:5046b27f5441 28 start.y = 0;
jmar11 17:5046b27f5441 29 fin.x = 0;
jmar11 17:5046b27f5441 30 fin.y = 6;
jmar11 17:5046b27f5441 31 pos = start;
jmar11 17:5046b27f5441 32 break;
jmar11 17:5046b27f5441 33 case 7 :
jmar11 17:5046b27f5441 34 start.x = 6;
jmar11 17:5046b27f5441 35 start.y = 0;
jmar11 17:5046b27f5441 36 fin.x = 0;
jmar11 17:5046b27f5441 37 fin.y = 5;
jmar11 17:5046b27f5441 38 pos = start;
jmar11 17:5046b27f5441 39 break;
jmar11 17:5046b27f5441 40 default :
jmar11 17:5046b27f5441 41 cerr<<"ERROR: Invalid R5Map size. Exiting."<<endl;
jmar11 17:5046b27f5441 42 exit(EXIT_FAILURE);
jmar11 17:5046b27f5441 43 }
jmar11 17:5046b27f5441 44 }
jmar11 17:5046b27f5441 45
jmar11 17:5046b27f5441 46 void R5Map::setPosition(position spot)
jmar11 17:5046b27f5441 47 {
jmar11 17:5046b27f5441 48 if(spot.x >= 0 && spot.y >= 0 && spot.x <= 6 && spot.y <= 6)
jmar11 17:5046b27f5441 49 {
jmar11 17:5046b27f5441 50 pos = spot;
jmar11 17:5046b27f5441 51 map[pos.x][pos.y].visited = true;
jmar11 17:5046b27f5441 52 }
jmar11 17:5046b27f5441 53 else
jmar11 17:5046b27f5441 54 {
jmar11 17:5046b27f5441 55 cerr<<"ERROR: Position assignment with R5Map::setPosition(position) outside map bounds!"<<endl;
jmar11 17:5046b27f5441 56 exit(EXIT_FAILURE);
jmar11 17:5046b27f5441 57 }
jmar11 17:5046b27f5441 58 }
jmar11 17:5046b27f5441 59
jmar11 17:5046b27f5441 60 void R5Map::setStart(position newStart)
jmar11 17:5046b27f5441 61 {
jmar11 17:5046b27f5441 62 if(newStart.x >= 0 && newStart.y >= 0 && newStart.x <= 6 && newStart.y <= 6)
jmar11 17:5046b27f5441 63 start = newStart;
jmar11 17:5046b27f5441 64 else
jmar11 17:5046b27f5441 65 {
jmar11 17:5046b27f5441 66 cerr<<"ERROR: Start assignment with R5Map::setStart(position) outside map Bounds!"<<endl;
jmar11 17:5046b27f5441 67 exit(EXIT_FAILURE);
jmar11 17:5046b27f5441 68 }
jmar11 17:5046b27f5441 69 }
jmar11 17:5046b27f5441 70
jmar11 17:5046b27f5441 71 void R5Map::setFinish(position newFin)
jmar11 17:5046b27f5441 72 {
jmar11 17:5046b27f5441 73 if(newFin.x>= 0 && newFin.y >= 0 && newFin.x <= 6 && newFin.y <= 6)
jmar11 17:5046b27f5441 74 fin = newFin;
jmar11 17:5046b27f5441 75 else
jmar11 17:5046b27f5441 76 {
jmar11 17:5046b27f5441 77 cerr<<"ERROR: Finsih assignment with R5Map::setFinish(position) outside map Bounds!"<<endl;
jmar11 17:5046b27f5441 78 exit(EXIT_FAILURE);
jmar11 17:5046b27f5441 79 }
jmar11 17:5046b27f5441 80 }
jmar11 17:5046b27f5441 81
jmar11 17:5046b27f5441 82 void R5Map::setWall(position cell, direction dir, wallState state)
jmar11 17:5046b27f5441 83 {
jmar11 17:5046b27f5441 84 if(cell.x >= 0 && cell.y >= 0 && cell.x <= 6 && cell.y <= 6)
jmar11 17:5046b27f5441 85 {
jmar11 17:5046b27f5441 86 switch(dir)
jmar11 17:5046b27f5441 87 {
jmar11 17:5046b27f5441 88 case NORTH : map[cell.x][cell.y].north = state;
jmar11 17:5046b27f5441 89 break;
jmar11 17:5046b27f5441 90 case SOUTH : map[cell.x][cell.y].south = state;
jmar11 17:5046b27f5441 91 break;
jmar11 17:5046b27f5441 92 case EAST : map[cell.x][cell.y].east = state;
jmar11 17:5046b27f5441 93 break;
jmar11 17:5046b27f5441 94 case WEST : map[cell.x][cell.y].west = state;
jmar11 17:5046b27f5441 95 }
jmar11 17:5046b27f5441 96 }
jmar11 17:5046b27f5441 97 else
jmar11 17:5046b27f5441 98 {
jmar11 17:5046b27f5441 99 cerr<<"ERROR: Position selection in R5Map::setWall(position, cell, direction) outside map bounds!"<<endl;
jmar11 17:5046b27f5441 100 exit(EXIT_FAILURE);
jmar11 17:5046b27f5441 101 }
jmar11 17:5046b27f5441 102 }
jmar11 17:5046b27f5441 103
jmar11 17:5046b27f5441 104 void R5Map::setCurWall(direction dir, wallState state)
jmar11 17:5046b27f5441 105 {
jmar11 17:5046b27f5441 106 switch(dir)
jmar11 17:5046b27f5441 107 {
jmar11 17:5046b27f5441 108 case NORTH : map[pos.x][pos.y].north = state;
jmar11 17:5046b27f5441 109 break;
jmar11 17:5046b27f5441 110 case SOUTH : map[pos.x][pos.y].south = state;
jmar11 17:5046b27f5441 111 break;
jmar11 17:5046b27f5441 112 case EAST : map[pos.x][pos.y].east = state;
jmar11 17:5046b27f5441 113 break;
jmar11 17:5046b27f5441 114 case WEST : map[pos.x][pos.y].west = state;
jmar11 17:5046b27f5441 115 }
jmar11 17:5046b27f5441 116 }
jmar11 17:5046b27f5441 117
jmar11 17:5046b27f5441 118 void R5Map::setVisited(position cell)
jmar11 17:5046b27f5441 119 {
jmar11 17:5046b27f5441 120 if(cell.x >= 0 && cell.y >= 0 && cell.x <= 6 && cell.y <= 6)
jmar11 17:5046b27f5441 121 map[cell.x][cell.y].visited = true;
jmar11 17:5046b27f5441 122 else
jmar11 17:5046b27f5441 123 {
jmar11 17:5046b27f5441 124 cerr<<"ERROR: Position selection in R5Map::setVisited(position) outside of map bounds!"<<endl;
jmar11 17:5046b27f5441 125 exit(EXIT_FAILURE);
jmar11 17:5046b27f5441 126 }
jmar11 17:5046b27f5441 127 }
jmar11 17:5046b27f5441 128
jmar11 17:5046b27f5441 129 void R5Map::setCurVisited() { map[pos.x][pos.y].visited = true; }
jmar11 17:5046b27f5441 130
jmar11 17:5046b27f5441 131 position R5Map::getPosition() const { return pos; }
jmar11 17:5046b27f5441 132
jmar11 17:5046b27f5441 133 position R5Map::getStart() const { return start; }
jmar11 17:5046b27f5441 134
jmar11 17:5046b27f5441 135 position R5Map::getFinish() const { return fin; }
jmar11 17:5046b27f5441 136
jmar11 17:5046b27f5441 137 wallState R5Map::getWall(position cell, direction dir) const
jmar11 17:5046b27f5441 138 {
jmar11 17:5046b27f5441 139 if(cell.x >= 0 && cell.y >= 0 && cell.x <= 6 && cell.y <= 6)
jmar11 17:5046b27f5441 140 {
jmar11 17:5046b27f5441 141 switch(dir)
jmar11 17:5046b27f5441 142 {
jmar11 17:5046b27f5441 143 case NORTH : return map[cell.x][cell.y].north;
jmar11 17:5046b27f5441 144 case SOUTH : return map[cell.x][cell.y].south;
jmar11 17:5046b27f5441 145 case EAST : return map[cell.x][cell.y].east;
jmar11 17:5046b27f5441 146 case WEST : return map[cell.x][cell.y].west;
jmar11 17:5046b27f5441 147 }
jmar11 17:5046b27f5441 148 }
jmar11 17:5046b27f5441 149 else
jmar11 17:5046b27f5441 150 {
jmar11 17:5046b27f5441 151 cerr<<"ERROR: Position selection in R5Map::getWall(position, direction) outside of map bounds!"<<endl;
jmar11 17:5046b27f5441 152 exit(EXIT_FAILURE);
jmar11 17:5046b27f5441 153 }
jmar11 17:5046b27f5441 154 }
jmar11 17:5046b27f5441 155
jmar11 17:5046b27f5441 156 wallState R5Map::getCurWall(direction dir) const
jmar11 17:5046b27f5441 157 {
jmar11 17:5046b27f5441 158 switch(dir)
jmar11 17:5046b27f5441 159 {
jmar11 17:5046b27f5441 160 case NORTH : return map[pos.x][pos.y].north;
jmar11 17:5046b27f5441 161 case SOUTH : return map[pos.x][pos.y].south;
jmar11 17:5046b27f5441 162 case EAST : return map[pos.x][pos.y].east;
jmar11 17:5046b27f5441 163 case WEST : return map[pos.x][pos.y].west;
jmar11 17:5046b27f5441 164 }
jmar11 17:5046b27f5441 165 }
jmar11 17:5046b27f5441 166
jmar11 17:5046b27f5441 167 bool R5Map::getVisited(position cell) const
jmar11 17:5046b27f5441 168 {
jmar11 17:5046b27f5441 169 if(cell.x >= 0 && cell.y >= 0 && cell.x <= 6 && cell.y <= 6)
jmar11 17:5046b27f5441 170 return map[cell.x][cell.y].visited;
jmar11 17:5046b27f5441 171 else
jmar11 17:5046b27f5441 172 {
jmar11 17:5046b27f5441 173 cerr<<"ERROR: Position selection in R5Map::getVisited(position) outside of map bounds!"<<endl;
jmar11 17:5046b27f5441 174 return false;
jmar11 17:5046b27f5441 175 }
jmar11 17:5046b27f5441 176 }
jmar11 17:5046b27f5441 177
jmar11 17:5046b27f5441 178 bool R5Map::getCurVisited() const { return map[pos.x][pos.y].visited; }
jmar11 17:5046b27f5441 179
jmar11 17:5046b27f5441 180 vector<char> R5Map::getSymbols(position cell) const
jmar11 17:5046b27f5441 181 {
jmar11 17:5046b27f5441 182 if(cell.x >= 0 && cell.y >= 0 && cell.x <= 6 && cell.y <= 6)
jmar11 17:5046b27f5441 183 return map[cell.x][cell.y].symbols;
jmar11 17:5046b27f5441 184 else
jmar11 17:5046b27f5441 185 {
jmar11 17:5046b27f5441 186 cerr<<"ERROR: Position selection in R5Map::getSymbols(position) outside of map bounds!"<<endl;
jmar11 17:5046b27f5441 187 vector<char> empty;
jmar11 17:5046b27f5441 188 return empty;
jmar11 17:5046b27f5441 189 }
jmar11 17:5046b27f5441 190 }
jmar11 17:5046b27f5441 191
jmar11 17:5046b27f5441 192 vector<char> R5Map::getCurSymbols() const { return map[pos.x][pos.y].symbols; }
jmar11 17:5046b27f5441 193
jmar11 17:5046b27f5441 194 int R5Map::getSize() const { return size; }
jmar11 17:5046b27f5441 195
jmar11 17:5046b27f5441 196 void R5Map::printMap() const
jmar11 17:5046b27f5441 197 {
jmar11 17:5046b27f5441 198 for(int i = 0; i < size; i++)
jmar11 17:5046b27f5441 199 {
jmar11 17:5046b27f5441 200 for(int k = 0; k < size; k++)
jmar11 17:5046b27f5441 201 {
jmar11 17:5046b27f5441 202 cout<<"cell : "<<i+1<<','<<k+1<<endl;
jmar11 17:5046b27f5441 203 cout<<" North : "<<map[i][k].north<<endl;
jmar11 17:5046b27f5441 204 cout<<" South : "<<map[i][k].south<<endl;
jmar11 17:5046b27f5441 205 cout<<" East : "<<map[i][k].east<<endl;
jmar11 17:5046b27f5441 206 cout<<" West : "<<map[i][k].west<<endl;
jmar11 17:5046b27f5441 207 cout<<" Symbols : ";
jmar11 17:5046b27f5441 208
jmar11 17:5046b27f5441 209 for(int j = 0; j < map[i][k].symbols.size(); j++)
jmar11 17:5046b27f5441 210 {
jmar11 17:5046b27f5441 211 cout<<map[i][k].symbols.at(j)<<" ";
jmar11 17:5046b27f5441 212 }
jmar11 17:5046b27f5441 213 cout<<endl<<"----------------------------"<<endl<<endl;
jmar11 17:5046b27f5441 214 }
jmar11 17:5046b27f5441 215 }
jmar11 17:5046b27f5441 216 }
jmar11 17:5046b27f5441 217
jmar11 17:5046b27f5441 218 R5Map::~R5Map() { }