Revision 3:87945bd950e8, committed 2018-05-26

Comitter:

el15tcd

Date:

Sat May 26 03:02:34 2018 +0000

Parent:

2:8667325e74a9

Commit message:

Shape algorithm for location mapping.

Changed in this revision

--- a/main.cpp	Fri May 25 23:24:23 2018 +0000
+++ b/main.cpp	Sat May 26 03:02:34 2018 +0000
@@ -1,256 +1,53 @@
 #include "mbed.h"
 
 BusOut myleds(LED4, LED3, LED2, LED1);
-DigitalOut NorthLED(LED1); //update pin when known
-DigitalOut EastLED(LED2); //update pin when known
-DigitalOut SouthLED(LED3); //update pin when known
-DigitalOut WestLED(LED4); //update pin when known
-
-DigitalIn NorthDetect(p5);
-DigitalIn EastDetect(p6);
-DigitalIn SouthDetect(p7);
-DigitalIn WestDetect(p8);
-
-int NorthPattern[8];
-int EastPattern[8];
-int SouthPattern[8];
-int WestPattern[8];
-
-int NorthPattern2[8];
-int EastPattern2[8];
-int SouthPattern2[8];
-int WestPattern2[8];
-
-int NorthPattern3[8];
-int EastPattern3[8];
-int SouthPattern3[8];
-int WestPattern3[8];
-
-int NorthPattern4[8];
-int EastPattern4[8];
-int SouthPattern4[8];
-int WestPattern4[8];
-
-int NorthDetected[5];
-int EastDetected[5];
-int SouthDetected[5];
-int WestDetected[5];
-
-//counters
-int N1N2;
-int N1N3;
-int N1N4;
-int N1E2;
-int N1E3;
-int N1E4;
-int N1S2;
-int N1S3;
-int N1S4;
-int N1W2;
-int N1W3;
-int N1W4;
-
-int E1N2;
-int E1N3;
-int E1N4;
-int E1E2;
-int E1E3;
-int E1E4;
-int E1S2;
-int E1S3;
-int E1S4;
-int E1W2;
-int E1W3;
-int E1W4;
-
-int S1N2;
-int S1N3;
-int S1N4;
-int S1E2;
-int S1E3;
-int S1E4;
-int S1S2;
-int S1S3;
-int S1S4;
-int S1W2;
-int S1W3;
-int S1W4;
-
-int W1N2;
-int W1N3;
-int W1N4;
-int W1E2;
-int W1E3;
-int W1E4;
-int W1S2;
-int W1S3;
-int W1S4;
-int W1W2;
-int W1W3;
-int W1W4;
 
 int algorithm_update;
-int number_of_tiles; //value used to represent number of tiles
 
-//orientations : N=1, E=2, S=3, W=4 and Unknown = 0
-int tile1_orientation;
-int tile2_orientation;
-int tile3_orientation;
-int tile4_orientation;
-
-int i;
-int c; //detectors function counter
-int o; //detectors function variable
-int d; //detectors function variable
-
-void patterns(int m);
-void patternsReset();
-int detectors(int n);
+int shape; //a value between 0 for off, and 5 for a square (with 6 for error)
+char tile1;
+char tile2;
+char tile3;
+char tile4;
+char tiles_combo;
 
 int main()
-{
-    //please note, some values would have to be adjusted to account for the extra 0 preceding the start bits
-    /*
-        initialise light patterns:
-        start bit || data of defined length (which is 5 bits for 16 sensors)
-        N1 = 111 00001
-        E1 = 111 00010
-        S1 = 111 00011
-        W1 = 111 00100
-        N2 = 111 00101
-        E2 = 111 00110
-        S2 = 111 01000
-        W2 = 111 01001
-        N3 = 111 01010
-        E3 = 111 01011
-        S3 = 111 01100
-        W3 = 111 01101
-        N4 = 111 10000
-        E4 = 111 10001
-        S4 = 111 10010
-        W4 = 111 10011
-
-        111 00111
-        111 01110 These combinations skipped due to having 3 1's that are not the start bits
-        111 01111
-
-        example of init below, different patterns for different tiles
-    */
-    
-    //tile 1 patterns (does not currently include the 0 preceding the start bits, as have had no sensors to test it further)
-    NorthPattern[0] = 1; NorthPattern[1] = 1; NorthPattern[2] = 1; NorthPattern[3] = 0; NorthPattern[4] = 0; NorthPattern[5] = 0; NorthPattern[6] = 0; NorthPattern[7] = 1;
-    EastPattern[0] = 1; EastPattern[1] = 1; EastPattern[2] = 1; EastPattern[3] = 0; EastPattern[4] = 0; EastPattern[5] = 0; EastPattern[6] = 1; EastPattern[7] = 0;
-    SouthPattern[0] = 1; SouthPattern[1] = 1; SouthPattern[2] = 1; SouthPattern[3] = 0; SouthPattern[4] = 0; SouthPattern[5] = 0; SouthPattern[6] = 1; SouthPattern[7] = 1;
-    WestPattern[0] = 1; WestPattern[1] = 1; WestPattern[2] = 1; WestPattern[3] = 0; WestPattern[4] = 0; WestPattern[5] = 1; WestPattern[6] = 0; WestPattern[7] = 0;
-    
-    //tile 2 patterns
-    
-    //tile 3 patterns
-    
-    //tile 4 patterns
+{   
     
     algorithm_update = 1;
 
     while(algorithm_update == 1) { //set algorithm to 0 to end the algorithm
-
-        for (i = 0; i <= 11; i++) { //11 because start bit not guaranteed to be at 0;
-            patterns(i); //turn on pattern(i)
-            int r = detectors(i); //update detectors(i)
-            if (r == 1) {
-                i = 6;
-                r = 0;
-            }
+        
+        check_tiles();
+        tiles_combo = tile1 + tile2 + tile3 + tile4;
+        
+        //check if all tiles are off
+        if ((tile1 == 0x00) && (tile2 == 0x00) && (tile3 == 0x00) && (tile4 == 0x00)) {
+            shape = 0;
+        } else if ((tile1 == 0x07) && (tile2 == 0x07) && (tile3 == 0x07) && (tile4 == 0x07)) { //0x07 is 111 (on and sensor values)
+            shape = 5;
+        } else if (tiles_combo == 0x04) { //0x04 is 100 (on and no sensor values)
+            shape = 1;
+        } else if (tiles_combo == 0x0A) { //0x0A is 101 + 101 (on and 1 sensor active on each of two tiles)
+            shape = 2;
+        } else if (tiles_combo == 0x11) { //0x11 is 101 + 111 + 111
+            shape = 3;
+        } else if (tiles_combo == 0x18) { //0x18 is 101 + 111 + 111 + 101
+            shape = 4;
+        } else {
+            shape = 6;
         }
-        patternsReset();
-        results();
-        //output orientation values in desired format
+        
+        if (shape != 6) {
+            algorithm_update = 0;
+        }
         
     }
-}
-
-void patterns(int m) {
-    
-    NorthLED = NorthPattern[m];
-    EastLED = EastPattern[m];
-    SouthLED = SouthPattern[m];
-    WestLED = WestPattern[m];
-    
-}
-
-void patternsReset() {
-    
-    NorthLED = 0;
-    EastLED = 0;
-    SouthLED = 0;
-    WestLED = 0;
-    
+    //output shape value in desired format
+    //ie return shape;
 }
 
-int detectors(int n) {
-    
-    d = 0;
-    o = n - 6; //
-    
-    NorthDetected[o] = NorthDetect;
-    EastDetected[o] = EastDetect;
-    SouthDetected[o] = SouthDetect;
-    WestDetected[o] = WestDetect;
-    
-    if ((NorthDetected[o] == 1) && (EastDetected[o] == 1) && (SouthDetected[o] == 1) && (WestDetected[o] == 1)) {
-        c++;
-    } else {
-        c = 0;
-    }
-    
-    if (c == 3) {
-        d = 1;
-    }
-    
-    return d;
-    
+void check_tiles {
+    //obtains the codeword for each tile
+    //dependent upon the sensor code, but will update tiles 1 through 4 values
 }
-
-void results() {
-    
-    //compare arrays to the predetermined patterns
-    //cycles through all comparisons of data, comparing the detected values to the known patterns of other tiles
-    //adds a value to the specific counter if it is a match
-    //example
-    for (i = 3; i < 8; i++) {//ignore the start bits when comparing
-        if (NorthDetected[i] == NorthPattern2[i]) {
-            N1N2++;
-        }
-        if (NorthDetected[i] == NorthPattern3[i]) {
-            N1N3++;
-        }
-        if (NorthDetected[i] == NorthPattern4[i]) {
-            N1N4++;
-        }
-            
-        
-    }
-    
-    //if any of the variables is 5, you can tell that is the current connection
-    //example
-    if (N1N2 == 5) {
-        tile1_orientation = 1; //always with respect to tile 1
-        tile2_orientation = 3;
-    } else if (N1N3 == 5) {
-        tile1_orientation = 1;
-        tile3_orientation = 3;
-    } else if (N1N4 == 5) {
-        tile1_orientation = 1;
-        tile4_orientation = 3;
-    }
-    
-    if (N1E2 == 5) {
-        tile1_orientation = 1; //always with respect to tile 1
-        tile2_orientation = 2;
-    } else if (N1E3 == 5) {
-        tile1_orientation = 1;
-        tile3_orientation = 2;
-    } else if (N1E4 == 5) {
-        tile1_orientation = 1;
-        tile4_orientation = 2;
-    }
-}