Motoo Tanaka
My simple maze program with UniGraphic library version.
Dependencies: MMA8451Q UniGraphic mbed
This is basically a same program with my maze_vt100_MMA8451Q
but this time I used UniGraphic library and Adafruit 2.8" TFT (with touch).
http://developer.mbed.org/users/Rhyme/code/maze_vt100_MMA8451Q/
You can tailor the maze by editing "maze.h."
先にパブリッシュした簡単な迷路プログラムで UniGraphic ライブラリを使用してみました。
“maze.h” を編集することで独自の迷路を作成していただけます。
After download and reset, a green circle is located at the start point.
Goal is the red circle.
ダウンロードしてリセットすると、画面のスタート位置に緑の●が置かれます。
ゴールは赤色の●です。
Move the FRDM-KL25Z board to let the green circle go.
FRDM-KL25Z を動かして、緑●を移動させます。
When the green circle arrives at the goal with the "goal" banner, game ends.
緑●がゴールにたどり着くと“goal”というバナーが出てゲーム終了です。
Since I did not use TSC (Touch Sensor) in this proram,
it should be easy to use other TFT panel(s), thanks for the "UniGraphic" library.
(let me know when you succeed with other TFT panel ;-)
このプログラムではタッチセンサーは使用していませんので、
“UniGraphic” ライブラリの恩恵として、他のTFTパネルへの移植も
容易だと思います。 (上手く行った人いたら知らせてくださいね・・・)
Revision 0:572a79c1c040, committed 2015-03-07
- Comitter:
- Rhyme
- Date:
- Sat Mar 07 00:11:50 2015 +0000
- Commit message:
- First commit for UniGraphic version
Changed in this revision
diff -r 000000000000 -r 572a79c1c040 MMA8451Q.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MMA8451Q.lib Sat Mar 07 00:11:50 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/emilmont/code/MMA8451Q/#c4d879a39775
diff -r 000000000000 -r 572a79c1c040 UniGraphic.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/UniGraphic.lib Sat Mar 07 00:11:50 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/teams/GraphicsDisplay/code/UniGraphic/#1bdfb971b2c1
diff -r 000000000000 -r 572a79c1c040 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Mar 07 00:11:50 2015 +0000
@@ -0,0 +1,254 @@
+/** maze_vt100 a simple maze using UniGraphic and MMA8451Q libraries
+ */
+#include "mbed.h"
+#include "MMA8451Q.h"
+#include <ILI9341.h>
+#include "Arial12x12.h"
+#include "Arial24x23.h"
+#include "Arial28x28.h"
+#include "Arial43x48_numb.h"
+#include "maze.h"
+
+#if defined (TARGET_KL25Z)
+#define PIN_MOSI PTD2
+#define PIN_MISO PTD3
+#define PIN_SCLK PTD1
+#define PIN_CS_TFT PTD0
+#define PIN_DC_TFT PTD5
+#define PIN_BL_TFT PTC9
+#define PIN_CS_SD PTA4
+#define PIN_CS_TSC PTA13
+#define PIN_TSC_INTR PTC9
+#define PIN_RESET_TFT PTB10
+#else
+ #error TARGET NOT DEFINED
+#endif
+
+#define DIR_STAY 0
+#define DIR_UP 1
+#define DIR_DOWN 2
+#define DIR_RIGHT 3
+#define DIR_LEFT 4
+
+#define MMA8451_I2C_ADDRESS (0x1D<<1)
+
+typedef struct _pos {
+ int x ;
+ int y ;
+} pos_type ;
+
+MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS) ;
+float threshold = 0.2 ;
+
+DigitalOut backlight(PTA12) ;
+ILI9341 TFT(SPI_8, 10000000,
+ PIN_MOSI, PIN_MISO, PIN_SCLK,
+ PIN_CS_TFT, PIN_RESET_TFT, PIN_DC_TFT, "Adafruit2.8") ;
+
+/** Check if two pos_type values are same
+ * @param pos_type a
+ * @param pos_type b
+ * @returns if a and b are same position
+ */
+bool isSame(pos_type a, pos_type b)
+{
+ return((a.x == b.x)&&(a.y == b.y)) ;
+}
+
+/** Draw the maze defined in the "maze.h"
+ * @param pos_type *current actually the start point
+ * @param pos_type *goal the position of the goal
+ * @note those params are actually returned by this function
+ */
+void drawTFTMaze(pos_type *current, pos_type *goal)
+{
+ int x, y, i, j ;
+ TFT.BusEnable(true) ;
+
+ backlight = 0 ;
+ for (j = 0 ; j < MAZE_H ; j++ ) {
+ for (i = 0 ; i < MAZE_W ; i++ ) {
+ x = i * 10 ;
+ y = j * 10 ;
+ switch(maze[j][i]) {
+ case 0: // path
+ TFT.fillrect(x, y, x+9, y+9, Black) ;
+ break ;
+ case 1: // wall
+ TFT.fillrect(x, y, x+9, y+9, DarkGrey) ;
+ break ;
+ case 2: // Start point
+ TFT.fillcircle(x+5, y+4, 4, Green) ;
+ current->x = i ;
+ current->y = j ;
+ break ;
+ case 3: // Goal
+ TFT.fillcircle(x+5, y+4, 4, Red) ;
+ goal->x = i ;
+ goal->y = j ;
+ break ;
+ default: // should not be here
+ break ;
+ }
+ }
+ }
+ backlight = 1 ;
+ TFT.BusEnable(false) ;
+}
+
+/** Filter out too little move
+ * @param float in returned value from the acc
+ * @returns float result filtered value of in
+ */
+float filterVal(float in)
+{
+ float result = 0.0 ;
+ if ((-threshold > in)||(in > threshold)) {
+ result = in ;
+ }
+ return( result ) ;
+}
+
+/** Decide which direction to go
+ * @param float res[] acc value of x, y
+ * @returns int direction to move
+ */
+int getDirection(float res[])
+{
+ float dx, dy ;
+ int direction = DIR_STAY ;
+ dx = filterVal(res[0]) ;
+ dy = filterVal(res[1]) ;
+
+ if ((dx*dx) > (dy*dy)) { // holizontal move
+ if (dx > 0.0) {
+ direction = DIR_DOWN ;
+ } else if (dx < 0.0) {
+ direction = DIR_UP ;
+ }
+ } else { // vertical move
+ if (dy > 0.0) {
+ direction = DIR_RIGHT ;
+ } else if (dy < 0.0) {
+ direction = DIR_LEFT ;
+ }
+ }
+ return(direction) ;
+}
+
+/** Get next positon to move to
+ * @param pos_type current where we are now
+ * @param int direction which way we'd like to move
+ * @returns the candidate positon for the next move
+ */
+pos_type getNext(pos_type current, int direction)
+{
+ pos_type next = current ;
+ switch(direction) {
+ case DIR_STAY:
+ break ;
+ case DIR_UP:
+ if (next.y > 0) {
+ next.y-- ;
+ }
+ break ;
+ case DIR_DOWN:
+ if (next.y < (MAZE_H - 1)) {
+ next.y++ ;
+ }
+ break ;
+ case DIR_RIGHT:
+ if (next.x < (MAZE_W - 1)) {
+ next.x++ ;
+ }
+ break ;
+ case DIR_LEFT:
+ if (next.x > 0) {
+ next.x-- ;
+ }
+ break ;
+ default:
+ break ;
+ }
+ return( next ) ;
+}
+
+/** Notice of the goal
+ */
+void showGoal(void)
+{
+ int x0, y0, x1, y1 ;
+ x0 = ((MAZE_W/2)-4) * 10 ;
+ y0 = ((MAZE_H/2)-1) * 10 ;
+ x1 = ((MAZE_W/2)+4) * 10 ;
+ y1 = ((MAZE_H/2)+1) * 10 ;
+
+ TFT.BusEnable(true) ;
+ TFT.fillrect(x0, y0, x1, y1, Blue) ;
+ TFT.rect(x0,y0,x1,y1, Yellow) ;
+ TFT.foreground(Red) ;
+ TFT.background(Blue) ;
+ x0 = ((MAZE_W/2) - 2) * 10 ;
+ y0 = (MAZE_H/2) * 10 - 3 ;
+ TFT.locate(x0, y0) ;
+ TFT.printf("G O A L") ;
+ TFT.BusEnable(false) ;
+}
+
+/** Check if we can move to the next position
+ * @param pos_type next the position we'd like to move next
+ * @returns if the position is empty (movable)
+ */
+bool checkMove(pos_type next)
+{
+ bool result = false ;
+
+ switch(maze[next.y][next.x]) {
+ case POS_PATH:
+ case POS_GOAL:
+ result = true ;
+ break ;
+ case POS_START:
+ case POS_WALL:
+ default:
+ result = false ;
+ break ;
+ }
+ return( result ) ;
+}
+
+/** main a simple maze program
+ */
+int main() {
+ float res[3] ;
+ pos_type current, next, goal ;
+ int direction = DIR_STAY ;
+ int x, y ;
+
+ drawTFTMaze(¤t, &goal) ;
+
+ for (;;) {
+ acc.getAccAllAxis(res) ;
+ direction = getDirection(res) ;
+ next = getNext(current, direction) ;
+ if ((!isSame(current, next)) && checkMove(next)) {
+ TFT.BusEnable(true) ;
+ x = current.x * 10 ;
+ y = current.y * 10 ;
+ TFT.fillrect(x, y, x+9, y+9, Black) ;
+ x = next.x * 10 ;
+ y = next.y * 10 ;
+ TFT.fillcircle(x+5, y+5, 4, Green) ;
+ TFT.BusEnable(false) ;
+ current = next ;
+ if (isSame(next, goal)) {
+ break ; // goal in!
+ }
+ }
+ wait(0.1) ;
+ }
+ showGoal() ;
+ for (;;) {
+ // wait for ever for reset
+ }
+}
diff -r 000000000000 -r 572a79c1c040 maze.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/maze.h Sat Mar 07 00:11:50 2015 +0000
@@ -0,0 +1,34 @@
+#ifndef _MAZE_H_
+#define _MAZE_H_ defined
+
+#define MAZE_W 20
+#define MAZE_H 20
+
+#define POS_PATH 0
+#define POS_WALL 1
+#define POS_START 2
+#define POS_GOAL 3
+
+uint8_t maze[MAZE_H][MAZE_W] = {
+ {1,2,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1},
+ {1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1},
+ {1,0,1,0,1,0,1,1,1,1,0,1,1,1,1,1,1,1,0,1},
+ {1,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,1,1,0,1},
+ {1,1,1,1,1,0,1,0,1,1,1,1,1,1,1,0,1,1,0,1},
+ {1,0,0,0,1,0,1,0,1,0,0,0,0,0,1,0,1,1,0,1},
+ {1,0,1,1,1,0,1,0,1,1,0,1,0,1,1,0,1,1,0,1},
+ {1,0,1,0,0,0,1,0,1,1,0,1,0,1,0,0,1,1,0,1},
+ {1,0,1,0,1,1,1,0,0,1,0,1,0,1,0,1,1,1,0,1},
+ {1,0,1,0,1,1,1,1,1,1,0,1,0,1,0,0,0,1,0,1},
+ {1,0,0,0,0,0,0,0,0,0,0,1,0,1,1,1,0,1,0,1},
+ {1,0,1,1,1,1,1,1,1,1,1,1,0,1,1,1,1,1,0,1},
+ {1,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,1},
+ {1,0,1,0,1,1,1,1,1,1,1,1,1,1,0,1,1,1,1,1},
+ {1,0,1,0,1,0,0,0,1,0,0,0,0,0,0,1,1,1,1,1},
+ {1,0,1,0,1,1,1,0,1,0,1,1,1,1,1,1,1,1,1,1},
+ {1,0,1,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0,1},
+ {1,0,1,1,1,1,1,0,1,1,1,1,1,1,1,1,1,1,0,1},
+ {1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1},
+ {1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,3,1}
+} ;
+#endif // _MAZE_H_
\ No newline at end of file
diff -r 000000000000 -r 572a79c1c040 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Mar 07 00:11:50 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/7e07b6fb45cf \ No newline at end of file