Diff: Headers/Movement.h

Revision:

7:95ebadc83fc7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Headers/Movement.h	Thu Apr 03 23:57:31 2014 +0000
@@ -0,0 +1,113 @@
+#ifndef Movement_H
+#define Movement_H
+
+#include "Sensors.h"
+#include "Motors.h"
+
+
+
+void moveNORTH()
+{
+    switch(orientation)
+    {
+        case NORTH:
+            // go forward...
+            break;
+        case WEST:
+            // turn right then forward
+            break;            
+        case SOUTH:
+            // turn around then forward
+            break;            
+        case EAST:
+            // turn left then forward
+            break;            
+    }
+    orientation = NORTH;
+}
+void moveSOUTH()
+{
+    switch(orientation)
+    {
+        case NORTH:
+            // turn around then forward...
+            break;
+        case WEST:
+            // turn left then forward
+            break;            
+        case SOUTH:
+            // go forward
+            break;            
+        case EAST:
+            // turn right then forward
+            break;            
+    }
+    orientation = SOUTH;
+}
+void moveEAST()
+{
+    switch(orientation)
+    {
+        case NORTH:
+            // turn right then forward...
+            break;
+        case WEST:
+            // turn around then foward
+            break;            
+        case SOUTH:
+            // turn left then forward
+            break;            
+        case EAST:
+            // go forward
+            break;            
+    }
+    orientation = EAST;
+}
+void moveWEST()
+{
+    switch(orientation)
+    {
+        case NORTH:
+            // turn left then forward...
+            break;
+        case WEST:
+            // go forward
+            break;            
+        case SOUTH:
+            // turn left then forward
+            break;            
+        case EAST:
+            // turn around then forward
+            break;            
+    }
+    orientation = WEST;
+}
+
+//////////////////////////////////////////////////////////////////////
+
+void Move()
+{
+    
+    switch(flood_findPath(Xpos, Ypos))
+    {
+        case M_NORTH:
+            moveNORTH();
+            break;
+     
+        case M_SOUTH:
+            moveSOUTH();
+            break;
+     
+        case M_WEST:
+            moveWEST();
+            break;
+        
+        case M_EAST:
+            moveEAST();
+            break;             
+        
+    } 
+}
+
+
+#endif
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