der Roboter
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Roboter
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Mapping.cpp
- Committer:
- akul
- Date:
- 2014-05-28
- Revision:
- 2:d439dbbc522f
- Parent:
- 1:7758ee895593
- Child:
- 3:1fbaadae09f8
File content as of revision 2:d439dbbc522f:
#include "mbed.h"
#include "m3pi_ng.h"
m3pi MarkII;
int main() {
return 0;
}
void mapping(m3pi thinggy, float speed, int startpoint, int endpoint, bool intersection){
int count = 0;
switch(startpoint){
case 1:
if(endpoint == 2){
while(count < 2){
if(intersection == true){
count++;
intersection = false;
if(count == 1){
thinggy.left(speed);
}
if(count == 2){
thinggy.left(speed);
}
}
}
count = 0;
}
else if(endpoint == 3){
while(count < 3){
if(intersection == true){
count++;
intersection = false;
if(count == 1){
thinggy.left(speed);
}
if(count == 2){
thinggy.forward(speed);
}
if(count == 2){
thinggy.forward(speed);
}
}
}
count = 0;
}
else if(endpoint == 4){
while(count < 4){
if(intersection == true){
count++;
intersection = false;
if(count == 1){
thinggy.left(speed);
}
if(count == 2){
thinggy.forward(speed);
}
if(count == 3){
thinggy.right(speed);
}
if(count == 4){
thinggy.left(speed);
}
}
}
count = 0;
}
else if(endpoint == 5){
while(count < 4){
if(intersection == true){
count++;
intersection = false;
if(count == 1){
thinggy.right(speed);
}
if(count == 2){
thinggy.forward(speed);
}
if(count == 3){
thinggy.right(speed);
}
if(count == 4){
thinggy.right(speed);
}
}
}
count = 0;
}
else if(endpoint == 6){
while(count < 2){
if(intersection == true){
count++;
intersection = false;
if(count == 1){
thinggy.left(speed);
}
if(count == 2){
thinggy.forward(speed);
}
}
}
count = 0;
}
break;
case 2:
if(endpoint == 2){
while(count < 2){
if(intersection == true){
count++;
intersection = false;
if(count == 1){
thinggy.right(speed);
}
if(count == 2){
thinggy.right(speed);
}
}
}
count = 0;
}
else if(endpoint == 3){
while(count < 2){
if(intersection == true){
count++;
intersection = false;
if(count == 1){
thinggy.left(speed);
}
if(count == 2){
thinggy.right(speed);
}
}
}
count = 0;
}
else if(endpoint == 4){
while(count < 2){
if(intersection == true){
count++;
intersection = false;
if(count == 1){
thinggy.right(speed);
}
if(count == 2){
thinggy.left(speed);
}
}
}
count = 0;
}
else if(endpoint == 5){
while(count < 3){
if(intersection == true){
count++;
intersection = false;
if(count == 1){
thinggy.forward(speed);
}
if(count == 2){
thinggy.left(speed);
}
if(count == 3){
thinggy.right(speed);
}
}
}
count = 0;
}
else if(endpoint == 6){
while(count < 3){
if(intersection == true){
count++;
intersection = false;
if(count == 1){
thinggy.right(speed);
}
if(count == 2){
thinggy.forward(speed);
}
if(count == 2){
thinggy.right(speed);
}
}
}
count = 0;
}
break;
case 3:
if(endpoint == 2){
while(count < 2){
if(intersection == true){
count++;
intersection = false;
if(count == 1){
thinggy.right(speed);
}
if(count == 2){
thinggy.right(speed);
}
}
}
count = 0;
}
else if(endpoint == 3){
while(count < 2){
if(intersection == true){
count++;
intersection = false;
if(count == 1){
thinggy.left(speed);
}
if(count == 2){
thinggy.right(speed);
}
}
}
count = 0;
}
else if(endpoint == 4){
while(count < 2){
if(intersection == true){
count++;
intersection = false;
if(count == 1){
thinggy.right(speed);
}
if(count == 2){
thinggy.left(speed);
}
}
}
count = 0;
}
else if(endpoint == 5){
while(count < 3){
if(intersection == true){
count++;
intersection = false;
if(count == 1){
thinggy.forward(speed);
}
if(count == 2){
thinggy.left(speed);
}
if(count == 3){
thinggy.right(speed);
}
}
}
count = 0;
}
else if(endpoint == 6){
while(count < 4){
if(intersection == true){
count++;
intersection = false;
if(count == 1){
thinggy.forward(speed);
}
if(count == 2){
thinggy.forward(speed);
}
if(count == 3){
thinggy.forward(speed);
}
if(count == 4){
thinggy.right(speed);
}
}
}
count = 0;
}
break;
case 4:
break;
case 5:
break;
case 6:
break;
default:
break;
}
}