Robot.h

00001 //robot
00002 class Robot
00003 {
00004     Mutex stdio_mutex;
00005     int frog_x, frog_y;
00006     
00007 public:
00008     void drawFrog() {
00009         frog_x=60;
00010         frog_y=115;
00011     uLCD.filled_rectangle(frog_x,frog_y,frog_x+5,frog_y+5,RED);
00012     }
00013     
00014     void drawOutline() {
00015     uLCD.line(0, 0 , 0, 127, BLACK);
00016     uLCD.line(0, 0 , 127, 0, BLACK);
00017     uLCD.line(127, 127 , 0, 127, BLACK);
00018     uLCD.line(127, 127 , 127, 0, BLACK);
00019     }
00020     
00021     void drawGrass(int Xp,int Yp) {
00022     uLCD.filled_rectangle(Xp-10,Yp-10,Xp+10,Yp+10,GREEN);
00023     }
00024     
00025     void drawBar(int Xp,int Yp) {
00026     uLCD.filled_rectangle(Xp-10,Yp-10,Xp+10,Yp+10,BLACK);
00027     }
00028     
00029     void drawRoad(int Xp,int Yp) {
00030     uLCD.filled_rectangle(Xp-10,Yp-10,Xp+10,Yp+10,BLACK);
00031     uLCD.filled_rectangle(Xp-2,Yp-1,Xp+2,Yp+1,WHITE);
00032     }
00033     
00034     void drawCar1(int Position1) {
00035     stdio_mutex.lock();
00036     uLCD.filled_rectangle(Position1-10,95-4,Position1+10,95+4,BLUE);
00037     stdio_mutex.unlock();
00038     }
00039     
00040     void drawWater(int Xp,int Yp) {
00041     uLCD.filled_rectangle(Xp-10,Yp-10,Xp+10,Yp+10,BLUE);
00042         if(Xp == 11 || Xp == 53 || Xp == 95){
00043             uLCD.filled_rectangle(Xp-6,Yp-6,Xp+6,Yp+6,GREEN);
00044         }
00045     }
00046     
00047     void drawDrown1() {
00048     uLCD.filled_rectangle(XPosition-10,YPosition-10,XPosition+10,YPosition+10,BLUE);
00049     uLCD.filled_rectangle(XPosition-4,YPosition-4,XPosition+4,YPosition+4,RED);
00050     uLCD.circle(XPosition, YPosition , 2, WHITE);
00051     }
00052     void drawDrown2() {
00053     uLCD.filled_rectangle(XPosition-10,YPosition-10,XPosition+10,YPosition+10,BLUE);
00054     uLCD.filled_rectangle(XPosition-3,YPosition-3,XPosition+3,YPosition+3,RED);
00055     uLCD.circle(XPosition, YPosition, 3, WHITE);
00056     }
00057     void drawDrown3() {
00058     uLCD.filled_rectangle(XPosition-10,YPosition-10,XPosition+10,YPosition+10,BLUE);
00059     uLCD.filled_rectangle(XPosition-1,YPosition-1,XPosition+1,YPosition+1,RED);
00060     uLCD.circle(XPosition, YPosition, 4 , WHITE);
00061     }
00062     void drawDrown4() {
00063     uLCD.filled_rectangle(XPosition-10,YPosition-10,XPosition+10,YPosition+10,BLUE);
00064     uLCD.circle(XPosition, YPosition, 5 , WHITE);
00065     uLCD.circle(XPosition, YPosition, 2 , WHITE);
00066     }
00067     void drawDrown5() {
00068     uLCD.filled_rectangle(XPosition-10,YPosition-10,XPosition+10,YPosition+10,BLUE);
00069     }
00070     
00071     void drawHelper(int Xp,int Yp) {
00072         if(Yp == 11) {
00073             drawBar(Xp,Yp);   //Row 1
00074             }
00075         if(Yp == 32){
00076             drawGrass(Xp,Yp); //Row 2
00077             }
00078         if(Yp == 53){
00079             drawRoad(Xp,Yp);  //Row 3
00080             }
00081         if(Yp == 74){
00082             drawWater(Xp,Yp); //Row 4
00083             }
00084         if(Yp == 95){   
00085             drawRoad(Xp,Yp);  //Row 5
00086             }
00087         if(Yp == 116){
00088             drawGrass(Xp,Yp); //Row 6
00089             }
00090     }
00091     
00092     void drawEraser() {
00093         drawHelper(XPosition,YPosition);
00094     }
00095     
00096     void moveForward() {
00097       stdio_mutex.lock();
00098     uLCD.filled_rectangle(frog_x,frog_y,frog_x+5,frog_y+5,BLACK);
00099     frog_y=frog_y-6;
00100    
00101     uLCD.filled_rectangle(frog_x,frog_y,frog_x+5,frog_y+5,RED);
00102     stdio_mutex.unlock();
00103     }
00104     void moveBackward() {
00105      stdio_mutex.lock();
00106     uLCD.filled_rectangle(frog_x,frog_y,frog_x+5,frog_y+5,BLACK);
00107     frog_y=frog_y+6;
00108    
00109     uLCD.filled_rectangle(frog_x,frog_y,frog_x+5,frog_y+5,RED);
00110     stdio_mutex.unlock();
00111     }
00112     void moveLeft() {
00113      stdio_mutex.lock();
00114     uLCD.filled_rectangle(frog_x,frog_y,frog_x+5,frog_y+5,BLACK);
00115     frog_x=frog_x-6;
00116    
00117     uLCD.filled_rectangle(frog_x,frog_y,frog_x+5,frog_y+5,RED);
00118     stdio_mutex.unlock();
00119     }
00120     void moveRight() {
00121      stdio_mutex.lock();
00122     uLCD.filled_rectangle(frog_x,frog_y,frog_x+5,frog_y+5,BLACK);
00123     frog_x=frog_x+6;
00124    
00125     uLCD.filled_rectangle(frog_x,frog_y,frog_x+5,frog_y+5,RED);
00126     stdio_mutex.unlock();
00127     }
00128     
00129     int getXPosition() {
00130         return XPosition;
00131         }
00132     int getYPosition() {
00133         return YPosition;
00134         }
00135         
00136     void setXPosition(int x) {
00137         XPosition=x;
00138         }
00139     void setYPosition(int y) {
00140         YPosition=y;
00141         }
00142     
00143     Robot() 
00144     {
00145     XPosition = 74;
00146     YPosition = 116;
00147     }
00148 private:
00149     
00150     int XPosition;
00151     int YPosition;
00152     };