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Dependencies:   m3pi_ng mbed

Mapping.cpp@2:d439dbbc522f, 2014-05-28 (annotated)

Committer:
akul
Date:
Wed May 28 11:29:42 2014 +0000
Revision:
2:d439dbbc522f
Parent:
1:7758ee895593
Child:
3:1fbaadae09f8
Initial code for mapping, only start points 1,2, and 3 done, code not proofread

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akul 1:7758ee895593 1 #include "mbed.h"
akul 1:7758ee895593 2 #include "m3pi_ng.h"
akul 1:7758ee895593 3
akul 1:7758ee895593 4 m3pi MarkII;
akul 1:7758ee895593 5
akul 1:7758ee895593 6
akul 1:7758ee895593 7 int main() {
akul 1:7758ee895593 8
akul 1:7758ee895593 9 return 0;
akul 1:7758ee895593 10
akul 1:7758ee895593 11 }
akul 1:7758ee895593 12
akul 1:7758ee895593 13 void mapping(m3pi thinggy, float speed, int startpoint, int endpoint, bool intersection){
akul 1:7758ee895593 14 int count = 0;
akul 1:7758ee895593 15
akul 1:7758ee895593 16 switch(startpoint){
akul 1:7758ee895593 17 case 1:
akul 1:7758ee895593 18 if(endpoint == 2){
akul 1:7758ee895593 19 while(count < 2){
akul 1:7758ee895593 20 if(intersection == true){
akul 1:7758ee895593 21 count++;
akul 1:7758ee895593 22 intersection = false;
akul 1:7758ee895593 23 if(count == 1){
akul 1:7758ee895593 24 thinggy.left(speed);
akul 1:7758ee895593 25 }
akul 1:7758ee895593 26 if(count == 2){
akul 1:7758ee895593 27 thinggy.left(speed);
akul 1:7758ee895593 28 }
akul 1:7758ee895593 29 }
akul 1:7758ee895593 30 }
akul 1:7758ee895593 31 count = 0;
akul 1:7758ee895593 32 }
akul 1:7758ee895593 33 else if(endpoint == 3){
akul 1:7758ee895593 34 while(count < 3){
akul 1:7758ee895593 35 if(intersection == true){
akul 1:7758ee895593 36 count++;
akul 1:7758ee895593 37 intersection = false;
akul 1:7758ee895593 38 if(count == 1){
akul 1:7758ee895593 39 thinggy.left(speed);
akul 1:7758ee895593 40 }
akul 1:7758ee895593 41 if(count == 2){
akul 1:7758ee895593 42 thinggy.forward(speed);
akul 1:7758ee895593 43 }
akul 1:7758ee895593 44 if(count == 2){
akul 1:7758ee895593 45 thinggy.forward(speed);
akul 1:7758ee895593 46 }
akul 1:7758ee895593 47 }
akul 1:7758ee895593 48 }
akul 1:7758ee895593 49 count = 0;
akul 1:7758ee895593 50 }
akul 1:7758ee895593 51 else if(endpoint == 4){
akul 1:7758ee895593 52 while(count < 4){
akul 1:7758ee895593 53 if(intersection == true){
akul 1:7758ee895593 54 count++;
akul 1:7758ee895593 55 intersection = false;
akul 1:7758ee895593 56 if(count == 1){
akul 1:7758ee895593 57 thinggy.left(speed);
akul 1:7758ee895593 58 }
akul 1:7758ee895593 59 if(count == 2){
akul 1:7758ee895593 60 thinggy.forward(speed);
akul 1:7758ee895593 61 }
akul 1:7758ee895593 62 if(count == 3){
akul 1:7758ee895593 63 thinggy.right(speed);
akul 1:7758ee895593 64 }
akul 1:7758ee895593 65 if(count == 4){
akul 1:7758ee895593 66 thinggy.left(speed);
akul 1:7758ee895593 67 }
akul 1:7758ee895593 68 }
akul 1:7758ee895593 69 }
akul 1:7758ee895593 70 count = 0;
akul 1:7758ee895593 71 }
akul 1:7758ee895593 72 else if(endpoint == 5){
akul 1:7758ee895593 73 while(count < 4){
akul 1:7758ee895593 74 if(intersection == true){
akul 1:7758ee895593 75 count++;
akul 1:7758ee895593 76 intersection = false;
akul 1:7758ee895593 77 if(count == 1){
akul 1:7758ee895593 78 thinggy.right(speed);
akul 1:7758ee895593 79 }
akul 1:7758ee895593 80 if(count == 2){
akul 1:7758ee895593 81 thinggy.forward(speed);
akul 1:7758ee895593 82 }
akul 1:7758ee895593 83 if(count == 3){
akul 1:7758ee895593 84 thinggy.right(speed);
akul 1:7758ee895593 85 }
akul 1:7758ee895593 86 if(count == 4){
akul 1:7758ee895593 87 thinggy.right(speed);
akul 1:7758ee895593 88 }
akul 1:7758ee895593 89 }
akul 1:7758ee895593 90 }
akul 1:7758ee895593 91 count = 0;
akul 1:7758ee895593 92 }
akul 1:7758ee895593 93 else if(endpoint == 6){
akul 1:7758ee895593 94 while(count < 2){
akul 1:7758ee895593 95 if(intersection == true){
akul 1:7758ee895593 96 count++;
akul 1:7758ee895593 97 intersection = false;
akul 1:7758ee895593 98 if(count == 1){
akul 1:7758ee895593 99 thinggy.left(speed);
akul 1:7758ee895593 100 }
akul 1:7758ee895593 101 if(count == 2){
akul 1:7758ee895593 102 thinggy.forward(speed);
akul 1:7758ee895593 103 }
akul 1:7758ee895593 104 }
akul 1:7758ee895593 105 }
akul 1:7758ee895593 106 count = 0;
akul 1:7758ee895593 107 }
akul 1:7758ee895593 108 break;
akul 1:7758ee895593 109
akul 1:7758ee895593 110 case 2:
akul 1:7758ee895593 111 if(endpoint == 2){
akul 1:7758ee895593 112 while(count < 2){
akul 1:7758ee895593 113 if(intersection == true){
akul 1:7758ee895593 114 count++;
akul 1:7758ee895593 115 intersection = false;
akul 1:7758ee895593 116 if(count == 1){
akul 1:7758ee895593 117 thinggy.right(speed);
akul 1:7758ee895593 118 }
akul 1:7758ee895593 119 if(count == 2){
akul 1:7758ee895593 120 thinggy.right(speed);
akul 1:7758ee895593 121 }
akul 1:7758ee895593 122 }
akul 1:7758ee895593 123 }
akul 1:7758ee895593 124 count = 0;
akul 1:7758ee895593 125 }
akul 1:7758ee895593 126 else if(endpoint == 3){
akul 1:7758ee895593 127 while(count < 2){
akul 1:7758ee895593 128 if(intersection == true){
akul 1:7758ee895593 129 count++;
akul 1:7758ee895593 130 intersection = false;
akul 1:7758ee895593 131 if(count == 1){
akul 1:7758ee895593 132 thinggy.left(speed);
akul 1:7758ee895593 133 }
akul 1:7758ee895593 134 if(count == 2){
akul 1:7758ee895593 135 thinggy.right(speed);
akul 1:7758ee895593 136 }
akul 1:7758ee895593 137 }
akul 1:7758ee895593 138 }
akul 1:7758ee895593 139 count = 0;
akul 1:7758ee895593 140 }
akul 1:7758ee895593 141 else if(endpoint == 4){
akul 1:7758ee895593 142 while(count < 2){
akul 1:7758ee895593 143 if(intersection == true){
akul 1:7758ee895593 144 count++;
akul 1:7758ee895593 145 intersection = false;
akul 1:7758ee895593 146 if(count == 1){
akul 1:7758ee895593 147 thinggy.right(speed);
akul 1:7758ee895593 148 }
akul 1:7758ee895593 149 if(count == 2){
akul 1:7758ee895593 150 thinggy.left(speed);
akul 1:7758ee895593 151 }
akul 1:7758ee895593 152 }
akul 1:7758ee895593 153 }
akul 1:7758ee895593 154 count = 0;
akul 1:7758ee895593 155 }
akul 1:7758ee895593 156 else if(endpoint == 5){
akul 1:7758ee895593 157 while(count < 3){
akul 1:7758ee895593 158 if(intersection == true){
akul 1:7758ee895593 159 count++;
akul 1:7758ee895593 160 intersection = false;
akul 1:7758ee895593 161 if(count == 1){
akul 1:7758ee895593 162 thinggy.forward(speed);
akul 1:7758ee895593 163 }
akul 1:7758ee895593 164 if(count == 2){
akul 1:7758ee895593 165 thinggy.left(speed);
akul 1:7758ee895593 166 }
akul 1:7758ee895593 167 if(count == 3){
akul 1:7758ee895593 168 thinggy.right(speed);
akul 1:7758ee895593 169 }
akul 1:7758ee895593 170 }
akul 1:7758ee895593 171 }
akul 1:7758ee895593 172 count = 0;
akul 1:7758ee895593 173 }
akul 1:7758ee895593 174 else if(endpoint == 6){
akul 1:7758ee895593 175 while(count < 3){
akul 1:7758ee895593 176 if(intersection == true){
akul 1:7758ee895593 177 count++;
akul 1:7758ee895593 178 intersection = false;
akul 1:7758ee895593 179 if(count == 1){
akul 1:7758ee895593 180 thinggy.right(speed);
akul 1:7758ee895593 181 }
akul 1:7758ee895593 182 if(count == 2){
akul 1:7758ee895593 183 thinggy.forward(speed);
akul 1:7758ee895593 184 }
akul 1:7758ee895593 185 if(count == 2){
akul 1:7758ee895593 186 thinggy.right(speed);
akul 1:7758ee895593 187 }
akul 1:7758ee895593 188 }
akul 1:7758ee895593 189 }
akul 1:7758ee895593 190 count = 0;
akul 1:7758ee895593 191 }
akul 1:7758ee895593 192
akul 1:7758ee895593 193
akul 1:7758ee895593 194 break;
akul 1:7758ee895593 195
akul 1:7758ee895593 196 case 3:
akul 1:7758ee895593 197 if(endpoint == 2){
akul 1:7758ee895593 198 while(count < 2){
akul 1:7758ee895593 199 if(intersection == true){
akul 1:7758ee895593 200 count++;
akul 1:7758ee895593 201 intersection = false;
akul 1:7758ee895593 202 if(count == 1){
akul 1:7758ee895593 203 thinggy.right(speed);
akul 1:7758ee895593 204 }
akul 1:7758ee895593 205 if(count == 2){
akul 1:7758ee895593 206 thinggy.right(speed);
akul 1:7758ee895593 207 }
akul 1:7758ee895593 208 }
akul 1:7758ee895593 209 }
akul 1:7758ee895593 210 count = 0;
akul 1:7758ee895593 211 }
akul 1:7758ee895593 212 else if(endpoint == 3){
akul 1:7758ee895593 213 while(count < 2){
akul 1:7758ee895593 214 if(intersection == true){
akul 1:7758ee895593 215 count++;
akul 1:7758ee895593 216 intersection = false;
akul 1:7758ee895593 217 if(count == 1){
akul 1:7758ee895593 218 thinggy.left(speed);
akul 1:7758ee895593 219 }
akul 1:7758ee895593 220 if(count == 2){
akul 1:7758ee895593 221 thinggy.right(speed);
akul 1:7758ee895593 222 }
akul 1:7758ee895593 223 }
akul 1:7758ee895593 224 }
akul 1:7758ee895593 225 count = 0;
akul 1:7758ee895593 226 }
akul 1:7758ee895593 227 else if(endpoint == 4){
akul 1:7758ee895593 228 while(count < 2){
akul 1:7758ee895593 229 if(intersection == true){
akul 1:7758ee895593 230 count++;
akul 1:7758ee895593 231 intersection = false;
akul 1:7758ee895593 232 if(count == 1){
akul 1:7758ee895593 233 thinggy.right(speed);
akul 1:7758ee895593 234 }
akul 1:7758ee895593 235 if(count == 2){
akul 1:7758ee895593 236 thinggy.left(speed);
akul 1:7758ee895593 237 }
akul 1:7758ee895593 238 }
akul 1:7758ee895593 239 }
akul 1:7758ee895593 240 count = 0;
akul 1:7758ee895593 241 }
akul 1:7758ee895593 242 else if(endpoint == 5){
akul 1:7758ee895593 243 while(count < 3){
akul 1:7758ee895593 244 if(intersection == true){
akul 1:7758ee895593 245 count++;
akul 1:7758ee895593 246 intersection = false;
akul 1:7758ee895593 247 if(count == 1){
akul 1:7758ee895593 248 thinggy.forward(speed);
akul 1:7758ee895593 249 }
akul 1:7758ee895593 250 if(count == 2){
akul 1:7758ee895593 251 thinggy.left(speed);
akul 1:7758ee895593 252 }
akul 1:7758ee895593 253 if(count == 3){
akul 1:7758ee895593 254 thinggy.right(speed);
akul 1:7758ee895593 255 }
akul 1:7758ee895593 256 }
akul 1:7758ee895593 257 }
akul 1:7758ee895593 258 count = 0;
akul 1:7758ee895593 259 }
akul 1:7758ee895593 260 else if(endpoint == 6){
akul 1:7758ee895593 261 while(count < 4){
akul 1:7758ee895593 262 if(intersection == true){
akul 1:7758ee895593 263 count++;
akul 1:7758ee895593 264 intersection = false;
akul 1:7758ee895593 265 if(count == 1){
akul 1:7758ee895593 266 thinggy.forward(speed);
akul 1:7758ee895593 267 }
akul 1:7758ee895593 268 if(count == 2){
akul 1:7758ee895593 269 thinggy.forward(speed);
akul 1:7758ee895593 270 }
akul 1:7758ee895593 271 if(count == 3){
akul 1:7758ee895593 272 thinggy.forward(speed);
akul 1:7758ee895593 273 }
akul 1:7758ee895593 274 if(count == 4){
akul 1:7758ee895593 275 thinggy.right(speed);
akul 1:7758ee895593 276 }
akul 1:7758ee895593 277 }
akul 1:7758ee895593 278 }
akul 1:7758ee895593 279 count = 0;
akul 1:7758ee895593 280 }
akul 1:7758ee895593 281
akul 1:7758ee895593 282
akul 1:7758ee895593 283 break;
akul 1:7758ee895593 284
akul 1:7758ee895593 285 case 4:
akul 1:7758ee895593 286
akul 1:7758ee895593 287
akul 1:7758ee895593 288 break;
akul 1:7758ee895593 289
akul 1:7758ee895593 290 case 5:
akul 1:7758ee895593 291
akul 1:7758ee895593 292
akul 1:7758ee895593 293 break;
akul 1:7758ee895593 294
akul 1:7758ee895593 295 case 6:
akul 1:7758ee895593 296
akul 1:7758ee895593 297
akul 1:7758ee895593 298 break;
akul 1:7758ee895593 299 default:
akul 2:d439dbbc522f 300
akul 2:d439dbbc522f 301 break;
akul 1:7758ee895593 302 }
akul 1:7758ee895593 303
akul 1:7758ee895593 304 }