Justin Eng / Mbed 2 deprecated SuperMbedBall

This is a ball on the Mbed.

Dependencies:   4DGL-uLCD-SE IMUfilter ITG3200 Music mbed-rtos mbed

main.cpp@0:680348a938f8, 2014-03-14 (annotated)

Committer:
Strikewolf
Date:
Fri Mar 14 17:03:16 2014 +0000
Revision:
0:680348a938f8
Initial commit;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Strikewolf 0:680348a938f8 1 #include <math.h>
Strikewolf 0:680348a938f8 2 #include <time.h>
Strikewolf 0:680348a938f8 3
Strikewolf 0:680348a938f8 4 #include "mbed.h"
Strikewolf 0:680348a938f8 5 #include "uLCD_4DGL.h"
Strikewolf 0:680348a938f8 6 #include "rtos.h"
Strikewolf 0:680348a938f8 7 #include "IMU_RPY.h"
Strikewolf 0:680348a938f8 8
Strikewolf 0:680348a938f8 9 // game configuration macros
Strikewolf 0:680348a938f8 10 #define NUMBER_OF_ROUNDS 3
Strikewolf 0:680348a938f8 11 #define CURSOR_SPEED 0.5
Strikewolf 0:680348a938f8 12 #define CURSOR_COLOR 0xFFFF00
Strikewolf 0:680348a938f8 13 #define SPACE_COLOR BLACK
Strikewolf 0:680348a938f8 14 #define WALL_COLOR RED
Strikewolf 0:680348a938f8 15 #define START_COLOR GREEN
Strikewolf 0:680348a938f8 16 #define END_COLOR BLUE
Strikewolf 0:680348a938f8 17
Strikewolf 0:680348a938f8 18 // game mechanism macros
Strikewolf 0:680348a938f8 19 #define MAZE_DIMENSION 25
Strikewolf 0:680348a938f8 20 #define SCALAR (125 / MAZE_DIMENSION)
Strikewolf 0:680348a938f8 21 #define START_BLOCK 3
Strikewolf 0:680348a938f8 22 #define END_BLOCK 2
Strikewolf 0:680348a938f8 23 #define WALL_BLOCK 1
Strikewolf 0:680348a938f8 24 #define SPACE_BLOCK 0
Strikewolf 0:680348a938f8 25
Strikewolf 0:680348a938f8 26 // prototypes in alphabetical order
Strikewolf 0:680348a938f8 27 bool checkVictory();
Strikewolf 0:680348a938f8 28 void displaySplashScreen();
Strikewolf 0:680348a938f8 29 void displayMaze();
Strikewolf 0:680348a938f8 30 void displayVictory();
Strikewolf 0:680348a938f8 31 void displayEndGame();
Strikewolf 0:680348a938f8 32 void generateMaze();
Strikewolf 0:680348a938f8 33 void depthFirstSearch(int r, int c);
Strikewolf 0:680348a938f8 34 void updateVelocity();
Strikewolf 0:680348a938f8 35 void updateBall();
Strikewolf 0:680348a938f8 36 void xthread(void const *args);
Strikewolf 0:680348a938f8 37 void ythread(void const *args);
Strikewolf 0:680348a938f8 38
Strikewolf 0:680348a938f8 39 // display variables
Strikewolf 0:680348a938f8 40 uLCD_4DGL uLCD(p9, p10, p11);
Strikewolf 0:680348a938f8 41
Strikewolf 0:680348a938f8 42 // cursor variables
Strikewolf 0:680348a938f8 43 Mutex x_mutex, y_mutex;
Strikewolf 0:680348a938f8 44 char cursor_x_pos, cursor_y_pos;
Strikewolf 0:680348a938f8 45 char old_cursor_x_pos, old_cursor_y_pos;
Strikewolf 0:680348a938f8 46 float ballxvel, ballyvel;
Strikewolf 0:680348a938f8 47
Strikewolf 0:680348a938f8 48 // start and end variables
Strikewolf 0:680348a938f8 49 char start_x, start_y;
Strikewolf 0:680348a938f8 50 char end_x, end_y;
Strikewolf 0:680348a938f8 51
Strikewolf 0:680348a938f8 52 // maze data structure
Strikewolf 0:680348a938f8 53 char maze[MAZE_DIMENSION][MAZE_DIMENSION];
Strikewolf 0:680348a938f8 54
Strikewolf 0:680348a938f8 55 // level counter
Strikewolf 0:680348a938f8 56 char level = 0;
Strikewolf 0:680348a938f8 57
Strikewolf 0:680348a938f8 58 int main()
Strikewolf 0:680348a938f8 59 {
Strikewolf 0:680348a938f8 60 pc.printf("Super Mbed Ball!!!!!\n\r");
Strikewolf 0:680348a938f8 61
Strikewolf 0:680348a938f8 62 // set up gyroscope/accelerometer (rpy = roll, pitch, yaw)
Strikewolf 0:680348a938f8 63 rpy_init();
Strikewolf 0:680348a938f8 64
Strikewolf 0:680348a938f8 65 //Overclock uLCD
Strikewolf 0:680348a938f8 66 uLCD.baudrate(3000000);
Strikewolf 0:680348a938f8 67
Strikewolf 0:680348a938f8 68 //Title Screen
Strikewolf 0:680348a938f8 69 displaySplashScreen();
Strikewolf 0:680348a938f8 70
Strikewolf 0:680348a938f8 71 //Start physics engine threads
Strikewolf 0:680348a938f8 72 Thread t1(xthread);
Strikewolf 0:680348a938f8 73 Thread t2(ythread);
Strikewolf 0:680348a938f8 74
Strikewolf 0:680348a938f8 75 // each iteration runs a complete game until user wins.
Strikewolf 0:680348a938f8 76 // wait for user to complete max allowed levels before
Strikewolf 0:680348a938f8 77 // terminating
Strikewolf 0:680348a938f8 78 while(level < NUMBER_OF_ROUNDS) {
Strikewolf 0:680348a938f8 79
Strikewolf 0:680348a938f8 80 //Initial velocity
Strikewolf 0:680348a938f8 81 ballxvel = 0;
Strikewolf 0:680348a938f8 82 ballyvel = 0;
Strikewolf 0:680348a938f8 83
Strikewolf 0:680348a938f8 84 //create Maze
Strikewolf 0:680348a938f8 85 generateMaze();
Strikewolf 0:680348a938f8 86 displayMaze();
Strikewolf 0:680348a938f8 87
Strikewolf 0:680348a938f8 88 //Game Execution Loop
Strikewolf 0:680348a938f8 89 while (checkVictory() == false) {
Strikewolf 0:680348a938f8 90 updateVelocity();
Strikewolf 0:680348a938f8 91 updateBall();
Strikewolf 0:680348a938f8 92 }
Strikewolf 0:680348a938f8 93
Strikewolf 0:680348a938f8 94 // victory splash screen
Strikewolf 0:680348a938f8 95 displayVictory();
Strikewolf 0:680348a938f8 96
Strikewolf 0:680348a938f8 97 // increment level counter
Strikewolf 0:680348a938f8 98 level++;
Strikewolf 0:680348a938f8 99 }
Strikewolf 0:680348a938f8 100
Strikewolf 0:680348a938f8 101 // display last end game screen before exiting program
Strikewolf 0:680348a938f8 102 displayEndGame();
Strikewolf 0:680348a938f8 103 }
Strikewolf 0:680348a938f8 104
Strikewolf 0:680348a938f8 105 // checks if cursor has moved to the end block
Strikewolf 0:680348a938f8 106 bool checkVictory()
Strikewolf 0:680348a938f8 107 {
Strikewolf 0:680348a938f8 108 // check if cursor made it to end row and column
Strikewolf 0:680348a938f8 109 return(maze[cursor_x_pos][cursor_y_pos] == END_BLOCK);
Strikewolf 0:680348a938f8 110 }
Strikewolf 0:680348a938f8 111
Strikewolf 0:680348a938f8 112 // depth first search, called by generateMaze()
Strikewolf 0:680348a938f8 113 void depthFirstSearch(int r, int c)
Strikewolf 0:680348a938f8 114 {
Strikewolf 0:680348a938f8 115 // 4 random direction
Strikewolf 0:680348a938f8 116 int randDirs1[] = {1, 2, 3, 4};
Strikewolf 0:680348a938f8 117 int randDirs2[] = {4, 2, 3, 1};
Strikewolf 0:680348a938f8 118 int *randDirs = NULL;
Strikewolf 0:680348a938f8 119
Strikewolf 0:680348a938f8 120 if (rand() % 2)
Strikewolf 0:680348a938f8 121 randDirs = randDirs1;
Strikewolf 0:680348a938f8 122 else
Strikewolf 0:680348a938f8 123 randDirs = randDirs2;
Strikewolf 0:680348a938f8 124
Strikewolf 0:680348a938f8 125 // Examine each direction
Strikewolf 0:680348a938f8 126 for (int i = 0; i < 4; i++) {
Strikewolf 0:680348a938f8 127 switch (randDirs[i]) {
Strikewolf 0:680348a938f8 128 case 1: // Up
Strikewolf 0:680348a938f8 129 //　Whether 2 cells up is out or not
Strikewolf 0:680348a938f8 130 if (r - 2 <= 0)
Strikewolf 0:680348a938f8 131 continue;
Strikewolf 0:680348a938f8 132 if (maze[r - 2][c] != 0) {
Strikewolf 0:680348a938f8 133 maze[r - 2][c] = SPACE_BLOCK;
Strikewolf 0:680348a938f8 134 maze[r - 1][c] = SPACE_BLOCK;
Strikewolf 0:680348a938f8 135 depthFirstSearch(r - 2, c);
Strikewolf 0:680348a938f8 136 }
Strikewolf 0:680348a938f8 137 break;
Strikewolf 0:680348a938f8 138 case 2: // Right
Strikewolf 0:680348a938f8 139 // Whether 2 cells to the right is out or not
Strikewolf 0:680348a938f8 140 if (c + 2 >= MAZE_DIMENSION - 1)
Strikewolf 0:680348a938f8 141 continue;
Strikewolf 0:680348a938f8 142 if (maze[r][c + 2] != 0) {
Strikewolf 0:680348a938f8 143 maze[r][c + 2] = SPACE_BLOCK;
Strikewolf 0:680348a938f8 144 maze[r][c + 1] = SPACE_BLOCK;
Strikewolf 0:680348a938f8 145 depthFirstSearch(r, c + 2);
Strikewolf 0:680348a938f8 146 }
Strikewolf 0:680348a938f8 147 break;
Strikewolf 0:680348a938f8 148 case 3: // Down
Strikewolf 0:680348a938f8 149 // Whether 2 cells down is out or not
Strikewolf 0:680348a938f8 150 if (r + 2 >= MAZE_DIMENSION - 1)
Strikewolf 0:680348a938f8 151 continue;
Strikewolf 0:680348a938f8 152 if (maze[r + 2][c] != 0) {
Strikewolf 0:680348a938f8 153 maze[r + 2][c] = SPACE_BLOCK;
Strikewolf 0:680348a938f8 154 maze[r + 1][c] = SPACE_BLOCK;
Strikewolf 0:680348a938f8 155 depthFirstSearch(r + 2, c);
Strikewolf 0:680348a938f8 156 }
Strikewolf 0:680348a938f8 157 break;
Strikewolf 0:680348a938f8 158 case 4: // Left
Strikewolf 0:680348a938f8 159 // Whether 2 cells to the left is out or not
Strikewolf 0:680348a938f8 160 if (c - 2 <= 0)
Strikewolf 0:680348a938f8 161 continue;
Strikewolf 0:680348a938f8 162 if (maze[r][c - 2] != 0) {
Strikewolf 0:680348a938f8 163 maze[r][c - 2] = SPACE_BLOCK;
Strikewolf 0:680348a938f8 164 maze[r][c - 1] = SPACE_BLOCK;
Strikewolf 0:680348a938f8 165 depthFirstSearch(r, c - 2);
Strikewolf 0:680348a938f8 166 }
Strikewolf 0:680348a938f8 167 break;
Strikewolf 0:680348a938f8 168 }
Strikewolf 0:680348a938f8 169 }
Strikewolf 0:680348a938f8 170 }
Strikewolf 0:680348a938f8 171
Strikewolf 0:680348a938f8 172 //Take whats in the mazearr and write it
Strikewolf 0:680348a938f8 173 void displayMaze()
Strikewolf 0:680348a938f8 174 {
Strikewolf 0:680348a938f8 175
Strikewolf 0:680348a938f8 176 // Clear previous maze
Strikewolf 0:680348a938f8 177 uLCD.filled_rectangle(0, 0, 127, 127, SPACE_COLOR);
Strikewolf 0:680348a938f8 178
Strikewolf 0:680348a938f8 179 // display start location
Strikewolf 0:680348a938f8 180 uLCD.filled_rectangle(start_x * SCALAR, start_y * SCALAR,
Strikewolf 0:680348a938f8 181 (start_x + 1) * SCALAR - 1, (start_y + 1) * SCALAR - 1, START_COLOR);
Strikewolf 0:680348a938f8 182
Strikewolf 0:680348a938f8 183 // display end location
Strikewolf 0:680348a938f8 184 uLCD.filled_rectangle(end_x * SCALAR, end_y * SCALAR,
Strikewolf 0:680348a938f8 185 (end_x + 1) * SCALAR - 1, (end_y + 1) * SCALAR - 1, END_COLOR);
Strikewolf 0:680348a938f8 186
Strikewolf 0:680348a938f8 187 // display walls of maze
Strikewolf 0:680348a938f8 188 for (int i = 0; i < MAZE_DIMENSION; i++) {
Strikewolf 0:680348a938f8 189 for (int j = 0; j < MAZE_DIMENSION; j++) {
Strikewolf 0:680348a938f8 190 if (maze[i][j] == WALL_BLOCK)
Strikewolf 0:680348a938f8 191 uLCD.filled_rectangle(i * SCALAR, j * SCALAR, (i + 1) * SCALAR - 1, (j + 1) * SCALAR - 1, WALL_COLOR);
Strikewolf 0:680348a938f8 192 }
Strikewolf 0:680348a938f8 193 }
Strikewolf 0:680348a938f8 194 }
Strikewolf 0:680348a938f8 195
Strikewolf 0:680348a938f8 196 //Game title screen
Strikewolf 0:680348a938f8 197 void displaySplashScreen()
Strikewolf 0:680348a938f8 198 {
Strikewolf 0:680348a938f8 199 uLCD.text_width(2);
Strikewolf 0:680348a938f8 200 uLCD.text_height(2);
Strikewolf 0:680348a938f8 201 uLCD.locate(0, 0);
Strikewolf 0:680348a938f8 202 uLCD.printf("SuperMbed");
Strikewolf 0:680348a938f8 203 uLCD.text_width(2);
Strikewolf 0:680348a938f8 204 uLCD.text_height(3);
Strikewolf 0:680348a938f8 205 uLCD.locate(2, 1);
Strikewolf 0:680348a938f8 206 uLCD.printf("Ball!");
Strikewolf 0:680348a938f8 207 wait(3);
Strikewolf 0:680348a938f8 208 }
Strikewolf 0:680348a938f8 209
Strikewolf 0:680348a938f8 210 //Victory screen - 5 sec delay and then next level
Strikewolf 0:680348a938f8 211 void displayVictory()
Strikewolf 0:680348a938f8 212 {
Strikewolf 0:680348a938f8 213 uLCD.text_width(2);
Strikewolf 0:680348a938f8 214 uLCD.text_height(2);
Strikewolf 0:680348a938f8 215 uLCD.locate(1, 3);
Strikewolf 0:680348a938f8 216 uLCD.printf("VICTORY!");
Strikewolf 0:680348a938f8 217 wait(5);
Strikewolf 0:680348a938f8 218 }
Strikewolf 0:680348a938f8 219
Strikewolf 0:680348a938f8 220 // End game screen
Strikewolf 0:680348a938f8 221 void displayEndGame() {
Strikewolf 0:680348a938f8 222 // wipe screen
Strikewolf 0:680348a938f8 223 uLCD.filled_rectangle(0, 0, 127, 127, BLACK);
Strikewolf 0:680348a938f8 224
Strikewolf 0:680348a938f8 225 // write game over
Strikewolf 0:680348a938f8 226 uLCD.text_width(2);
Strikewolf 0:680348a938f8 227 uLCD.text_height(2);
Strikewolf 0:680348a938f8 228 uLCD.locate(1, 3);
Strikewolf 0:680348a938f8 229 uLCD.printf("GAME OVER");
Strikewolf 0:680348a938f8 230 }
Strikewolf 0:680348a938f8 231
Strikewolf 0:680348a938f8 232 // randomely generates a maze using depth first search
Strikewolf 0:680348a938f8 233 void generateMaze()
Strikewolf 0:680348a938f8 234 {
Strikewolf 0:680348a938f8 235 // Initialize all spaces to walls
Strikewolf 0:680348a938f8 236 for (int i = 0; i < MAZE_DIMENSION; i++)
Strikewolf 0:680348a938f8 237 for (int j = 0; j < MAZE_DIMENSION; j++)
Strikewolf 0:680348a938f8 238 maze[i][j] = WALL_BLOCK;
Strikewolf 0:680348a938f8 239
Strikewolf 0:680348a938f8 240 // unused z-value of gyroscope will be random seed
Strikewolf 0:680348a938f8 241 srand(imuFilter.getYaw());
Strikewolf 0:680348a938f8 242
Strikewolf 0:680348a938f8 243 // calculate starting row and column of maze DFS
Strikewolf 0:680348a938f8 244 // starting row and column must be an odd number
Strikewolf 0:680348a938f8 245 int seed = 0;
Strikewolf 0:680348a938f8 246 while(seed % 2 == 0)
Strikewolf 0:680348a938f8 247 seed = rand() % (MAZE_DIMENSION -1) + 1;
Strikewolf 0:680348a938f8 248
Strikewolf 0:680348a938f8 249 pc.printf("seed: %d\r\n", seed);
Strikewolf 0:680348a938f8 250
Strikewolf 0:680348a938f8 251 // Starting cell
Strikewolf 0:680348a938f8 252 maze[seed][seed] = SPACE_BLOCK;
Strikewolf 0:680348a938f8 253
Strikewolf 0:680348a938f8 254 //　Allocate the maze with recursive method
Strikewolf 0:680348a938f8 255 depthFirstSearch(seed, seed);
Strikewolf 0:680348a938f8 256
Strikewolf 0:680348a938f8 257 // find start and end positions
Strikewolf 0:680348a938f8 258 start_x = start_y = 0xF;
Strikewolf 0:680348a938f8 259 end_x = end_y = 0;
Strikewolf 0:680348a938f8 260 for (int i = 0; i < MAZE_DIMENSION; i++) {
Strikewolf 0:680348a938f8 261 for (int j = 0; j < MAZE_DIMENSION; j++) {
Strikewolf 0:680348a938f8 262
Strikewolf 0:680348a938f8 263 if (maze[i][j] == SPACE_BLOCK) {
Strikewolf 0:680348a938f8 264 // start space
Strikewolf 0:680348a938f8 265 if((i*MAZE_DIMENSION + j) < (start_x*MAZE_DIMENSION + start_y)) {
Strikewolf 0:680348a938f8 266 start_x = i;
Strikewolf 0:680348a938f8 267 start_y = j;
Strikewolf 0:680348a938f8 268 }
Strikewolf 0:680348a938f8 269
Strikewolf 0:680348a938f8 270 // end space
Strikewolf 0:680348a938f8 271 if((i*MAZE_DIMENSION + j) > (end_x*MAZE_DIMENSION + end_y)) {
Strikewolf 0:680348a938f8 272 end_x = i;
Strikewolf 0:680348a938f8 273 end_y = j;
Strikewolf 0:680348a938f8 274 }
Strikewolf 0:680348a938f8 275 }
Strikewolf 0:680348a938f8 276 }
Strikewolf 0:680348a938f8 277 }
Strikewolf 0:680348a938f8 278
Strikewolf 0:680348a938f8 279 // reset cursor starting position
Strikewolf 0:680348a938f8 280 cursor_x_pos = old_cursor_x_pos = start_x;
Strikewolf 0:680348a938f8 281 cursor_y_pos = old_cursor_y_pos = start_y;
Strikewolf 0:680348a938f8 282
Strikewolf 0:680348a938f8 283 // mark spots in maze data structure
Strikewolf 0:680348a938f8 284 maze[start_x][start_y] = START_BLOCK;
Strikewolf 0:680348a938f8 285 maze[end_x][end_y] = END_BLOCK;
Strikewolf 0:680348a938f8 286
Strikewolf 0:680348a938f8 287 }
Strikewolf 0:680348a938f8 288
Strikewolf 0:680348a938f8 289 //Move the ball around and draw to the screen
Strikewolf 0:680348a938f8 290 void updateBall()
Strikewolf 0:680348a938f8 291 {
Strikewolf 0:680348a938f8 292 x_mutex.lock();
Strikewolf 0:680348a938f8 293 y_mutex.lock();
Strikewolf 0:680348a938f8 294
Strikewolf 0:680348a938f8 295 // redraw ball only if the position has changed
Strikewolf 0:680348a938f8 296 if (cursor_x_pos != old_cursor_x_pos || cursor_y_pos != old_cursor_y_pos) {
Strikewolf 0:680348a938f8 297
Strikewolf 0:680348a938f8 298 //Wipe the old ball
Strikewolf 0:680348a938f8 299
Strikewolf 0:680348a938f8 300 uLCD.filled_rectangle(old_cursor_x_pos * SCALAR, old_cursor_y_pos * SCALAR,
Strikewolf 0:680348a938f8 301 (old_cursor_x_pos + 1) * SCALAR - 1, (old_cursor_y_pos + 1) * SCALAR - 1, SPACE_COLOR);
Strikewolf 0:680348a938f8 302
Strikewolf 0:680348a938f8 303 //Out with the old in with the new!
Strikewolf 0:680348a938f8 304 uLCD.filled_rectangle(cursor_x_pos * SCALAR, cursor_y_pos * SCALAR,
Strikewolf 0:680348a938f8 305 (cursor_x_pos + 1) * SCALAR - 1, (cursor_y_pos + 1) * SCALAR - 1, CURSOR_COLOR);
Strikewolf 0:680348a938f8 306
Strikewolf 0:680348a938f8 307 // store new position
Strikewolf 0:680348a938f8 308 old_cursor_x_pos = cursor_x_pos;
Strikewolf 0:680348a938f8 309 old_cursor_y_pos = cursor_y_pos;
Strikewolf 0:680348a938f8 310 }
Strikewolf 0:680348a938f8 311
Strikewolf 0:680348a938f8 312 x_mutex.unlock();
Strikewolf 0:680348a938f8 313 y_mutex.unlock();
Strikewolf 0:680348a938f8 314 }
Strikewolf 0:680348a938f8 315
Strikewolf 0:680348a938f8 316
Strikewolf 0:680348a938f8 317 //This will be where the gyro values are used to accelerate/decelerate the ball
Strikewolf 0:680348a938f8 318 void updateVelocity()
Strikewolf 0:680348a938f8 319 {
Strikewolf 0:680348a938f8 320 x_mutex.lock();
Strikewolf 0:680348a938f8 321 y_mutex.lock();
Strikewolf 0:680348a938f8 322
Strikewolf 0:680348a938f8 323 // sample gyroscope/accelerometer through filter
Strikewolf 0:680348a938f8 324 ballxvel = toDegrees(imuFilter.getPitch()) / -10;
Strikewolf 0:680348a938f8 325 ballyvel = toDegrees(imuFilter.getRoll()) / 10;
Strikewolf 0:680348a938f8 326
Strikewolf 0:680348a938f8 327 // bound velocities to max speed for x
Strikewolf 0:680348a938f8 328 if (ballxvel > 1)
Strikewolf 0:680348a938f8 329 ballxvel = CURSOR_SPEED;
Strikewolf 0:680348a938f8 330 else if (ballxvel < -1)
Strikewolf 0:680348a938f8 331 ballxvel = -CURSOR_SPEED;
Strikewolf 0:680348a938f8 332
Strikewolf 0:680348a938f8 333 // bound velocities to max speed for y
Strikewolf 0:680348a938f8 334 if (ballyvel > 1)
Strikewolf 0:680348a938f8 335 ballyvel = CURSOR_SPEED;
Strikewolf 0:680348a938f8 336 else if (ballyvel < -1)
Strikewolf 0:680348a938f8 337 ballyvel = -CURSOR_SPEED;
Strikewolf 0:680348a938f8 338
Strikewolf 0:680348a938f8 339 // round to 2 decimal places
Strikewolf 0:680348a938f8 340 ballxvel = floorf(ballxvel * 100.0) / 100.0;
Strikewolf 0:680348a938f8 341 ballyvel = floorf(ballyvel * 100.0) / 100.0;
Strikewolf 0:680348a938f8 342
Strikewolf 0:680348a938f8 343 x_mutex.unlock();
Strikewolf 0:680348a938f8 344 y_mutex.unlock();
Strikewolf 0:680348a938f8 345 }
Strikewolf 0:680348a938f8 346
Strikewolf 0:680348a938f8 347
Strikewolf 0:680348a938f8 348 //xthread and ythread act as the physics engine, simulating velocity and wall detection
Strikewolf 0:680348a938f8 349 void xthread(const void* args)
Strikewolf 0:680348a938f8 350 {
Strikewolf 0:680348a938f8 351 while (1) {
Strikewolf 0:680348a938f8 352 x_mutex.lock();
Strikewolf 0:680348a938f8 353 y_mutex.lock();
Strikewolf 0:680348a938f8 354 if (ballxvel > 0) {
Strikewolf 0:680348a938f8 355 if (maze[cursor_x_pos + 1][cursor_y_pos] != WALL_BLOCK)
Strikewolf 0:680348a938f8 356 cursor_x_pos++;
Strikewolf 0:680348a938f8 357 } else if (ballxvel < 0) {
Strikewolf 0:680348a938f8 358 if (maze[cursor_x_pos - 1][cursor_y_pos] != WALL_BLOCK)
Strikewolf 0:680348a938f8 359 cursor_x_pos--;
Strikewolf 0:680348a938f8 360 }
Strikewolf 0:680348a938f8 361 x_mutex.unlock();
Strikewolf 0:680348a938f8 362 y_mutex.unlock();
Strikewolf 0:680348a938f8 363 Thread::wait(100 - 98 * abs(ballxvel));
Strikewolf 0:680348a938f8 364 }
Strikewolf 0:680348a938f8 365 }
Strikewolf 0:680348a938f8 366
Strikewolf 0:680348a938f8 367 void ythread(const void* args)
Strikewolf 0:680348a938f8 368 {
Strikewolf 0:680348a938f8 369 while (1) {
Strikewolf 0:680348a938f8 370 x_mutex.lock();
Strikewolf 0:680348a938f8 371 y_mutex.lock();
Strikewolf 0:680348a938f8 372 if (ballyvel > 0) {
Strikewolf 0:680348a938f8 373 if (maze[cursor_x_pos][cursor_y_pos + 1] != WALL_BLOCK)
Strikewolf 0:680348a938f8 374 cursor_y_pos++;
Strikewolf 0:680348a938f8 375 } else if (ballyvel < 0) {
Strikewolf 0:680348a938f8 376 if (maze[cursor_x_pos][cursor_y_pos - 1] != WALL_BLOCK)
Strikewolf 0:680348a938f8 377 cursor_y_pos--;
Strikewolf 0:680348a938f8 378 }
Strikewolf 0:680348a938f8 379 x_mutex.unlock();
Strikewolf 0:680348a938f8 380 y_mutex.unlock();
Strikewolf 0:680348a938f8 381 Thread::wait(100 - 98 * abs(ballyvel));
Strikewolf 0:680348a938f8 382 }
Strikewolf 0:680348a938f8 383 }
Strikewolf 0:680348a938f8 384