Diff: main.cpp
- Revision:
- 8:8131269dc46e
- Parent:
- 7:22392ed60534
- Child:
- 9:a01f90f88920
--- a/main.cpp Fri Apr 27 13:07:13 2018 +0000
+++ b/main.cpp Fri Apr 27 16:28:34 2018 +0000
@@ -108,7 +108,7 @@
//Init
int route[200] = {0};
- int r = 0;
+ volatile int r = 0;
int junction[20] = {0};
int j = 0;
@@ -152,9 +152,13 @@
//Junction Check
if ((lWall + cWall + rWall) < 2) {
- if (junction[j] > 0) {j++;}
- junction[j] = r;
- printf("Kreuzung Schritt: %d\n", r);
+
+ if (junction[j-1] != r) {
+ junction[j] = r;
+ j++;
+ }
+
+ printf("Kreuzung: %d Schritt: %d\n", j, r);
}
//No wall left
if (lWall == 0) {
@@ -184,13 +188,34 @@
}else if (route[r] == RIGHT) {
// Kreuzung führt zu Sackgassen -> löschen
- junction[j] = 0;
+ junction[j-1] = 0;
//if (j > 0) {j--;}
printf("Kreuzung %d Schritt %d geloscht\n", j, r);
j--;
//reverseToJunction(junction[j], r, route);
- while (junction[r] < r ) {
+ /*for (int i = r; i > junction[j]; i--) {
+ r = i;
+ //invert rotation
+ if (route[r] == LEFT) {
+
+ route[r] = RIGHT;
+
+ }else if (route[r] == RIGHT) {
+
+ route[r] = LEFT;
+ }
+
+ motion.runTask(route[r]);
+ printf("Schritt: %d, Befehl: %d\n", r, route[r]);
+ route[r] = 0;
+ }
+ printf("Loop fertig\n");
+ r--;
+ printf("Schritt: %d, Befehl: %d\n", r, route[r]);
+ */
+
+ while (junction[j-1] < r ) {
//invert rotation
if (route[r] == LEFT) {
@@ -203,9 +228,10 @@
}
motion.runTask(route[r]);
+ printf("Schritt: %d, Befehl: %d\n", r, route[r]);
route[r] = 0;
r--;
- }
+ }
}else{
route[r] = LEFT;
@@ -237,13 +263,34 @@
}else if (route[r] == MOVE) {
- junction[j] = 0;
+ junction[j-1] = 0;
//if (j > 0) {j--;}
printf("Kreuzung %d Schritt %d geloscht\n", j, r);
j--;
//reverseToJunction(junction[j], r, route);
- while (junction[r] < r ) {
+ /*for (int i = r; i > junction[j]; i--) {
+ r = i;
+ //invert rotation
+ if (route[r] == LEFT) {
+
+ route[r] = RIGHT;
+
+ }else if (route[r] == RIGHT) {
+
+ route[r] = LEFT;
+ }
+
+ motion.runTask(route[r]);
+ printf("Schritt: %d, Befehl: %d\n", r, route[r]);
+ route[r] = 0;
+ }
+ printf("Loop fertig\n");
+ r--;
+ printf("Schritt: %d, Befehl: %d\n", r, route[r]);
+ */
+
+ while (junction[j-1] < r ) {
//invert rotation
if (route[r] == LEFT) {
@@ -256,6 +303,7 @@
}
motion.runTask(route[r]);
+ printf("Schritt: %d, Befehl: %d\n", r, route[r]);
route[r] = 0;
r--;
}
@@ -289,15 +337,17 @@
printf("Sackgasse Schritt: %d\n", r);
r--;
//Return to last junction
- while (junction[j] <= r ) {
-
- if (junction[j] == r) {
+ while (junction[j-1] <= r ) {
+ //for (int i = r; i >= junction[j]; i--
+
+ if (junction[j-1] == r) {
switch (route[r]) {
case MOVE:
motion.runTask(route[r]);
printf("Schritt: %d, Befehl: %d\n", r, route[r]);
r--;
+ break;
case LEFT:
r--;
break;
Helvijs Kiselis
