Motoo Tanaka / Mbed 2 deprecated maze_vt100_MMA8451Q Featured

Inspired by Mr. Jeff G.'s Mini Project LCD Maze, I hacked my version for FRDM-KL25Z. This one utilizes the MMA8451Q on the FRDM and my vt100 lib. By editing "maze.h" you can create your own maze.

Dependencies:   MMA8451Q mbed vt100

Another sample project to show how to use my vt100 lib along with MMA8451Q lib.

You can tailor the maze by editing "maze.h."

先にパブリッシュした vt100 ライブラリと、FRDM-KL25Zに搭載された加速度センサを使用した簡単な迷路プログラムです。

“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。

/media/uploads/Rhyme/maze_start.jpg

After download and reset, the point "@" is located at the start point. Goal is the green "G."

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“@”が置かれます。 ゴールは緑色の“G”です。

/media/uploads/Rhyme/maze_walking.jpg

Move the FRDM-KL25Z board to let the "@" go.

FRDM-KL25Z を動かして、“@”を移動させます。

/media/uploads/Rhyme/maze_goal.jpg

When "@" arrives at the goal with the "goal" banner, game ends.

“@”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。

main.cpp@0:f2f2c76b9816, 2014-12-07 (annotated)

Committer:
Rhyme
Date:
Sun Dec 07 10:17:42 2014 +0000
Revision:
0:f2f2c76b9816
Child:
1:6fab471dffd5
First time commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Rhyme 0:f2f2c76b9816 1 #include "mbed.h"
Rhyme 0:f2f2c76b9816 2 #include "MMA8451Q.h"
Rhyme 0:f2f2c76b9816 3 #include "vt100.h"
Rhyme 0:f2f2c76b9816 4 #include "maze.h"
Rhyme 0:f2f2c76b9816 5
Rhyme 0:f2f2c76b9816 6 #define DIR_STAY 0
Rhyme 0:f2f2c76b9816 7 #define DIR_UP 1
Rhyme 0:f2f2c76b9816 8 #define DIR_DOWN 2
Rhyme 0:f2f2c76b9816 9 #define DIR_RIGHT 3
Rhyme 0:f2f2c76b9816 10 #define DIR_LEFT 4
Rhyme 0:f2f2c76b9816 11
Rhyme 0:f2f2c76b9816 12
Rhyme 0:f2f2c76b9816 13
Rhyme 0:f2f2c76b9816 14 #define MMA8451_I2C_ADDRESS (0x1D<<1)
Rhyme 0:f2f2c76b9816 15
Rhyme 0:f2f2c76b9816 16 typedef struct _pos {
Rhyme 0:f2f2c76b9816 17 int x ;
Rhyme 0:f2f2c76b9816 18 int y ;
Rhyme 0:f2f2c76b9816 19 } pos_type ;
Rhyme 0:f2f2c76b9816 20
Rhyme 0:f2f2c76b9816 21 MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS) ;
Rhyme 0:f2f2c76b9816 22 vt100 tty ;
Rhyme 0:f2f2c76b9816 23
Rhyme 0:f2f2c76b9816 24 void drawTextMaze(pos_type *current, pos_type *goal)
Rhyme 0:f2f2c76b9816 25 {
Rhyme 0:f2f2c76b9816 26 int x, y ;
Rhyme 0:f2f2c76b9816 27 char c ;
Rhyme 0:f2f2c76b9816 28
Rhyme 0:f2f2c76b9816 29 tty.setBG(7) ; // set background to white
Rhyme 0:f2f2c76b9816 30 tty.setFG(0) ; // set foreground to black
Rhyme 0:f2f2c76b9816 31 tty.cls() ;
Rhyme 0:f2f2c76b9816 32
Rhyme 0:f2f2c76b9816 33 for (y = 0 ; y < MAZE_H ; y++ ) {
Rhyme 0:f2f2c76b9816 34 for (x = 0 ; x < MAZE_W ; x++ ) {
Rhyme 0:f2f2c76b9816 35 switch(maze[y][x]) {
Rhyme 0:f2f2c76b9816 36 case 0:
Rhyme 0:f2f2c76b9816 37 c = ' ' ;
Rhyme 0:f2f2c76b9816 38 break ; // path
Rhyme 0:f2f2c76b9816 39 case 1:
Rhyme 0:f2f2c76b9816 40 c = ' ' ;
Rhyme 0:f2f2c76b9816 41 tty.setBG(0) ; // set background to black
Rhyme 0:f2f2c76b9816 42 tty.setFG(7) ; // set foreground to white
Rhyme 0:f2f2c76b9816 43 break ; // wall
Rhyme 0:f2f2c76b9816 44 case 2: c = 'S' ;
Rhyme 0:f2f2c76b9816 45 current->x = x ;
Rhyme 0:f2f2c76b9816 46 current->y = y ;
Rhyme 0:f2f2c76b9816 47 break ; // start
Rhyme 0:f2f2c76b9816 48 case 3: c = 'G' ;
Rhyme 0:f2f2c76b9816 49 tty.green() ;
Rhyme 0:f2f2c76b9816 50 goal->x = x ;
Rhyme 0:f2f2c76b9816 51 goal->y = y ;
Rhyme 0:f2f2c76b9816 52 break ; // goal
Rhyme 0:f2f2c76b9816 53 default: c = '?' ; break ; // wth?
Rhyme 0:f2f2c76b9816 54 }
Rhyme 0:f2f2c76b9816 55 tty.locate(x+1, y+1) ;
Rhyme 0:f2f2c76b9816 56 printf("%c", c) ;
Rhyme 0:f2f2c76b9816 57 tty.setBG(7) ; // set background to white
Rhyme 0:f2f2c76b9816 58 tty.setFG(0) ; // set foreground to black
Rhyme 0:f2f2c76b9816 59 }
Rhyme 0:f2f2c76b9816 60 printf("\n\r") ;
Rhyme 0:f2f2c76b9816 61 }
Rhyme 0:f2f2c76b9816 62 }
Rhyme 0:f2f2c76b9816 63
Rhyme 0:f2f2c76b9816 64 float filterVal(float in)
Rhyme 0:f2f2c76b9816 65 {
Rhyme 0:f2f2c76b9816 66 float result = 0.0 ;
Rhyme 0:f2f2c76b9816 67 if ((-0.2 < in)&&(in < 0.2)) {
Rhyme 0:f2f2c76b9816 68 result = 0.0 ;
Rhyme 0:f2f2c76b9816 69 } else {
Rhyme 0:f2f2c76b9816 70 result = in ;
Rhyme 0:f2f2c76b9816 71 }
Rhyme 0:f2f2c76b9816 72 return( result ) ;
Rhyme 0:f2f2c76b9816 73 }
Rhyme 0:f2f2c76b9816 74
Rhyme 0:f2f2c76b9816 75 int getDirection(float res[])
Rhyme 0:f2f2c76b9816 76 {
Rhyme 0:f2f2c76b9816 77 float dx, dy ;
Rhyme 0:f2f2c76b9816 78 int direction = DIR_STAY ;
Rhyme 0:f2f2c76b9816 79 dx = filterVal(res[0]) ;
Rhyme 0:f2f2c76b9816 80 dy = filterVal(res[1]) ;
Rhyme 0:f2f2c76b9816 81
Rhyme 0:f2f2c76b9816 82 if ((dx*dx) > (dy*dy)) { // holizontal move
Rhyme 0:f2f2c76b9816 83 if (dx == 0.0) {
Rhyme 0:f2f2c76b9816 84 //
Rhyme 0:f2f2c76b9816 85 } else if (dx > 0.0) {
Rhyme 0:f2f2c76b9816 86 direction = DIR_DOWN ;
Rhyme 0:f2f2c76b9816 87 } else {
Rhyme 0:f2f2c76b9816 88 direction = DIR_UP ;
Rhyme 0:f2f2c76b9816 89 }
Rhyme 0:f2f2c76b9816 90 } else { // vertical move
Rhyme 0:f2f2c76b9816 91 if (dy == 0.0) {
Rhyme 0:f2f2c76b9816 92 //
Rhyme 0:f2f2c76b9816 93 } else if (dy > 0) {
Rhyme 0:f2f2c76b9816 94 direction = DIR_RIGHT ;
Rhyme 0:f2f2c76b9816 95 } else {
Rhyme 0:f2f2c76b9816 96 direction = DIR_LEFT ;
Rhyme 0:f2f2c76b9816 97 }
Rhyme 0:f2f2c76b9816 98 }
Rhyme 0:f2f2c76b9816 99 return(direction) ;
Rhyme 0:f2f2c76b9816 100 }
Rhyme 0:f2f2c76b9816 101
Rhyme 0:f2f2c76b9816 102 pos_type getNext(pos_type current, int direction)
Rhyme 0:f2f2c76b9816 103 {
Rhyme 0:f2f2c76b9816 104 pos_type next = current ;
Rhyme 0:f2f2c76b9816 105 switch(direction) {
Rhyme 0:f2f2c76b9816 106 case DIR_STAY:
Rhyme 0:f2f2c76b9816 107 break ;
Rhyme 0:f2f2c76b9816 108 case DIR_UP:
Rhyme 0:f2f2c76b9816 109 if (next.y > 0) {
Rhyme 0:f2f2c76b9816 110 next.y-- ;
Rhyme 0:f2f2c76b9816 111 }
Rhyme 0:f2f2c76b9816 112 break ;
Rhyme 0:f2f2c76b9816 113 case DIR_DOWN:
Rhyme 0:f2f2c76b9816 114 if (next.y < (MAZE_H - 1)) {
Rhyme 0:f2f2c76b9816 115 next.y++ ;
Rhyme 0:f2f2c76b9816 116 }
Rhyme 0:f2f2c76b9816 117 break ;
Rhyme 0:f2f2c76b9816 118 case DIR_RIGHT:
Rhyme 0:f2f2c76b9816 119 if (next.x < (MAZE_W - 1)) {
Rhyme 0:f2f2c76b9816 120 next.x++ ;
Rhyme 0:f2f2c76b9816 121 } ;
Rhyme 0:f2f2c76b9816 122 break ;
Rhyme 0:f2f2c76b9816 123 case DIR_LEFT:
Rhyme 0:f2f2c76b9816 124 if (next.x > 0) {
Rhyme 0:f2f2c76b9816 125 next.x-- ;
Rhyme 0:f2f2c76b9816 126 }
Rhyme 0:f2f2c76b9816 127 break ;
Rhyme 0:f2f2c76b9816 128 default:
Rhyme 0:f2f2c76b9816 129 break ;
Rhyme 0:f2f2c76b9816 130 }
Rhyme 0:f2f2c76b9816 131 return( next ) ;
Rhyme 0:f2f2c76b9816 132 }
Rhyme 0:f2f2c76b9816 133
Rhyme 0:f2f2c76b9816 134 bool checkMove(pos_type next)
Rhyme 0:f2f2c76b9816 135 {
Rhyme 0:f2f2c76b9816 136 bool result = false ;
Rhyme 0:f2f2c76b9816 137
Rhyme 0:f2f2c76b9816 138 switch(maze[next.y][next.x]) {
Rhyme 0:f2f2c76b9816 139 case POS_PATH:
Rhyme 0:f2f2c76b9816 140 case POS_GOAL:
Rhyme 0:f2f2c76b9816 141 result = true ;
Rhyme 0:f2f2c76b9816 142 break ;
Rhyme 0:f2f2c76b9816 143 case POS_START:
Rhyme 0:f2f2c76b9816 144 case POS_WALL:
Rhyme 0:f2f2c76b9816 145 default:
Rhyme 0:f2f2c76b9816 146 result = false ;
Rhyme 0:f2f2c76b9816 147 break ;
Rhyme 0:f2f2c76b9816 148 }
Rhyme 0:f2f2c76b9816 149 return( result ) ;
Rhyme 0:f2f2c76b9816 150 }
Rhyme 0:f2f2c76b9816 151
Rhyme 0:f2f2c76b9816 152 int main() {
Rhyme 0:f2f2c76b9816 153 float res[3] ;
Rhyme 0:f2f2c76b9816 154 pos_type current, next, goal ;
Rhyme 0:f2f2c76b9816 155 int direction = DIR_STAY ;
Rhyme 0:f2f2c76b9816 156
Rhyme 0:f2f2c76b9816 157 tty.cls() ;
Rhyme 0:f2f2c76b9816 158 drawTextMaze(&current, &goal) ;
Rhyme 0:f2f2c76b9816 159 tty.locate(current.x+1, current.y+1) ;
Rhyme 0:f2f2c76b9816 160 tty.black() ;
Rhyme 0:f2f2c76b9816 161 printf("@") ;
Rhyme 0:f2f2c76b9816 162 printf("\r\n") ;
Rhyme 0:f2f2c76b9816 163
Rhyme 0:f2f2c76b9816 164 for (;;) {
Rhyme 0:f2f2c76b9816 165 acc.getAccAllAxis(res) ;
Rhyme 0:f2f2c76b9816 166 direction = getDirection(res) ;
Rhyme 0:f2f2c76b9816 167 next = getNext(current, direction) ;
Rhyme 0:f2f2c76b9816 168 if (((next.x != current.x)||(next.y != current.y)) && checkMove(next)) {
Rhyme 0:f2f2c76b9816 169 tty.locate(current.x+1, current.y+1) ;
Rhyme 0:f2f2c76b9816 170 printf(" ") ;
Rhyme 0:f2f2c76b9816 171 tty.locate(next.x+1, next.y+1) ;
Rhyme 0:f2f2c76b9816 172 printf("@") ;
Rhyme 0:f2f2c76b9816 173 tty.green() ;
Rhyme 0:f2f2c76b9816 174 tty.locate(1, MAZE_H+1) ;
Rhyme 0:f2f2c76b9816 175 printf("\r\n") ;
Rhyme 0:f2f2c76b9816 176 tty.black() ;
Rhyme 0:f2f2c76b9816 177 current = next ;
Rhyme 0:f2f2c76b9816 178 if ((next.x == goal.x)&&(next.y == goal.y)) {
Rhyme 0:f2f2c76b9816 179 break ;
Rhyme 0:f2f2c76b9816 180 }
Rhyme 0:f2f2c76b9816 181 }
Rhyme 0:f2f2c76b9816 182 wait(0.1) ;
Rhyme 0:f2f2c76b9816 183 }
Rhyme 0:f2f2c76b9816 184 tty.blue() ;
Rhyme 0:f2f2c76b9816 185 tty.frame((MAZE_W/2)-4,(MAZE_H/2)-1,(MAZE_W/2)+4,(MAZE_H/2)+1) ;
Rhyme 0:f2f2c76b9816 186 tty.red() ;
Rhyme 0:f2f2c76b9816 187 tty.locate((MAZE_W/2)-3, (MAZE_H/2)) ;
Rhyme 0:f2f2c76b9816 188 printf("G O A L\n\r") ;
Rhyme 0:f2f2c76b9816 189 for (;;) {
Rhyme 0:f2f2c76b9816 190 }
Rhyme 0:f2f2c76b9816 191 }