Motoo Tanaka
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。
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。
Move the FRDM-KL25Z board to let the "@" go.
FRDM-KL25Z を動かして、“@”を移動させます。
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。
Revision 1:6fab471dffd5, committed 2014-12-08
- Comitter:
- Rhyme
- Date:
- Mon Dec 08 11:37:21 2014 +0000
- Parent:
- 0:f2f2c76b9816
- Commit message:
- First commit with some comments added
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r f2f2c76b9816 -r 6fab471dffd5 main.cpp
--- a/main.cpp Sun Dec 07 10:17:42 2014 +0000
+++ b/main.cpp Mon Dec 08 11:37:21 2014 +0000
@@ -1,3 +1,5 @@
+/** maze_vt100 a simple maze using vt100 and MMA8451Q libraries
+ */
#include "mbed.h"
#include "MMA8451Q.h"
#include "vt100.h"
@@ -9,8 +11,6 @@
#define DIR_RIGHT 3
#define DIR_LEFT 4
-
-
#define MMA8451_I2C_ADDRESS (0x1D<<1)
typedef struct _pos {
@@ -20,7 +20,23 @@
MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS) ;
vt100 tty ;
+float threshold = 0.2 ;
+/** 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 drawTextMaze(pos_type *current, pos_type *goal)
{
int x, y ;
@@ -33,27 +49,30 @@
for (y = 0 ; y < MAZE_H ; y++ ) {
for (x = 0 ; x < MAZE_W ; x++ ) {
switch(maze[y][x]) {
- case 0:
+ case 0: // path
c = ' ' ;
- break ; // path
- case 1:
+ break ;
+ case 1: // wall
c = ' ' ;
tty.setBG(0) ; // set background to black
tty.setFG(7) ; // set foreground to white
- break ; // wall
- case 2: c = 'S' ;
+ break ;
+ case 2: // Start point
+ c = 'S' ;
current->x = x ;
current->y = y ;
break ; // start
- case 3: c = 'G' ;
+ case 3: // Goal
+ c = 'G' ;
tty.green() ;
goal->x = x ;
goal->y = y ;
- break ; // goal
- default: c = '?' ; break ; // wth?
+ break ;
+ default: // should not be here
+ c = '?' ;
+ break ; // wth?
}
- tty.locate(x+1, y+1) ;
- printf("%c", c) ;
+ tty.putChar(x+1, y+1, c) ;
tty.setBG(7) ; // set background to white
tty.setFG(0) ; // set foreground to black
}
@@ -61,17 +80,23 @@
}
}
+/** 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 ((-0.2 < in)&&(in < 0.2)) {
- result = 0.0 ;
- } else {
+ 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 ;
@@ -80,25 +105,26 @@
dy = filterVal(res[1]) ;
if ((dx*dx) > (dy*dy)) { // holizontal move
- if (dx == 0.0) {
- //
- } else if (dx > 0.0) {
+ if (dx > 0.0) {
direction = DIR_DOWN ;
- } else {
+ } else if (dx < 0.0) {
direction = DIR_UP ;
}
} else { // vertical move
- if (dy == 0.0) {
- //
- } else if (dy > 0) {
+ if (dy > 0.0) {
direction = DIR_RIGHT ;
- } else {
+ } 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 ;
@@ -118,7 +144,7 @@
case DIR_RIGHT:
if (next.x < (MAZE_W - 1)) {
next.x++ ;
- } ;
+ }
break ;
case DIR_LEFT:
if (next.x > 0) {
@@ -131,6 +157,21 @@
return( next ) ;
}
+/** Notice of the goal
+ */
+void showGoal(void)
+{
+ tty.blue() ;
+ tty.frame((MAZE_W/2)-4,(MAZE_H/2)-1,(MAZE_W/2)+4,(MAZE_H/2)+1) ;
+ tty.red() ;
+ tty.locate((MAZE_W/2)-3, (MAZE_H/2)) ;
+ printf("G O A L\n\r") ;
+}
+
+/** 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 ;
@@ -148,7 +189,9 @@
}
return( result ) ;
}
-
+
+/** main a simple maze program
+ */
int main() {
float res[3] ;
pos_type current, next, goal ;
@@ -156,36 +199,29 @@
tty.cls() ;
drawTextMaze(¤t, &goal) ;
- tty.locate(current.x+1, current.y+1) ;
tty.black() ;
- printf("@") ;
+ tty.putChar(current.x+1, current.y+1, '@') ;
printf("\r\n") ;
for (;;) {
acc.getAccAllAxis(res) ;
direction = getDirection(res) ;
next = getNext(current, direction) ;
- if (((next.x != current.x)||(next.y != current.y)) && checkMove(next)) {
- tty.locate(current.x+1, current.y+1) ;
- printf(" ") ;
- tty.locate(next.x+1, next.y+1) ;
- printf("@") ;
- tty.green() ;
- tty.locate(1, MAZE_H+1) ;
- printf("\r\n") ;
- tty.black() ;
- current = next ;
- if ((next.x == goal.x)&&(next.y == goal.y)) {
- break ;
- }
+ if ((!isSame(current, next)) && checkMove(next)) {
+ tty.putChar(current.x+1, current.y+1, ' ') ;
+ tty.putChar(next.x+1, next.y+1, '@') ;
+ tty.green() ;
+ tty.putStr(1, MAZE_H+1, "\r\n") ;
+ tty.black() ;
+ current = next ;
+ if (isSame(next, goal)) {
+ break ; // goal in!
+ }
}
wait(0.1) ;
}
- tty.blue() ;
- tty.frame((MAZE_W/2)-4,(MAZE_H/2)-1,(MAZE_W/2)+4,(MAZE_H/2)+1) ;
- tty.red() ;
- tty.locate((MAZE_W/2)-3, (MAZE_H/2)) ;
- printf("G O A L\n\r") ;
+ showGoal() ;
for (;;) {
+ // wait for ever for reset
}
}