File content as of revision 8:ce5b1bf38077:

#ifndef MAPPING_H
#define MAPPING_H

const unsigned char EMPTY   = 0x00;
const unsigned char LEFT    = 0x01;
const unsigned char RIGHT   = 0x02;
const unsigned char BOTTOM  = 0x04;
const unsigned char TOP     = 0x08;
const unsigned char FULL    = 0x0F;
const unsigned char visited = 0x10;
const unsigned char x       = 0x20;
const unsigned char y       = 0x40;
const unsigned char z       = 0x80; 
const unsigned char all     = 0xF0;                           

enum ORIENTATION
{
    NORTH,
    EAST,
    SOUTH,
    WEST   
};
//unsigned char MAP[16][16];
int cells_traveled = 0;
///                X  Y
unsigned char MAP1[16][16] = {
    
//                                        Y --->
//  1     2     3     4     5     6     7     8     9    10    11    12    13    14    15    16                           
 {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF}, //1
 {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF}, //2
 {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF}, //3 
 {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF}, //4
 {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF}, //5
 {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF}, //6
 {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF}, //7
 {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF}, //8
 {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF}, //9                     X
 {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF}, //10
 {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF}, //11
 {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF}, //12
 {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF}, //13
 {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF}, //14
 {0xF3, 0xF5, 0xF0, 0xFC, 0xF6, 0xF7, 0xF7, 0xF5, 0xF0, 0xFC, 0xF0, 0xF0, 0xFC, 0xFC, 0xFE, 0xF7}, //15
 {0xF5, 0xFC, 0xF4, 0xFC, 0xFC, 0xFE, 0xFD, 0xFC, 0xF4, 0xFC, 0xF6, 0xF5, 0xFC, 0xFC, 0xFC, 0xFE}  //16
};

unsigned char MAP[16][16] = {
    
//                                        Y --->
//  1    2     3     4     5     6     7     8     9    10    11    12    13    14    15    16                           
 {0x09, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x0A}, //1
 {0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02}, //2
 {0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02}, //3 
 {0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02}, //4
 {0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02}, //5
 {0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02}, //6
 {0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02}, //7
 {0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02}, //8
 {0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02}, //9         |            X
 {0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02}, //10         |
 {0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02}, //11|
 {0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02}, //12
 {0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02}, //13
 {0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02}, //14
 {0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02}, //15
 {0x07, 0x04, 0x04, 0x04, 0x04, 0x04, 0x04, 0x04, 0x04, 0x04, 0x04, 0x04, 0x04, 0x04, 0x04, 0x06}  //16
};

ORIENTATION orientation = NORTH;
unsigned char Xpos;
unsigned char Ypos;

void initMapping()
{
    for(int i = 0; i < 16; i++)
        for(int j = 0; j < 16; j++)
            MAP[i][j] = EMPTY;   
            
    Xpos = 15; 
    Ypos = 0;
    
    orientation = NORTH;
}

int getXpos() { return Xpos; }

int getYpos() { return Ypos; }

bool validDimen(unsigned char x, unsigned char y)
{
    return ((unsigned char)0 <= x && x < (unsigned char)16 && (unsigned char)0 <= y && y < (unsigned char)16);
}

bool getTopWall(unsigned char x, unsigned char y)
{
    return MAP[x][y] & TOP;
}

bool getBottomWall(unsigned char x, unsigned char y)
{
    return MAP[x][y] & BOTTOM;
}

bool getLeftWall(unsigned char x, unsigned char y)
{
    return MAP[x][y] & LEFT;
}

bool getRightWall(unsigned char x, unsigned char y)
{
    return MAP[x][y] & RIGHT;
}

void setTopWall(unsigned char x, unsigned char y, bool wall)
{
    if(validDimen(x, y))
        if(wall)
            MAP[x][y] |= TOP;            
        else
            MAP[x][y] &= ~TOP;
}

void setBottomWall(unsigned char x, unsigned char y, bool wall)
{
    if(validDimen(x, y))
        if(wall)
            MAP[x][y] |= BOTTOM;            
        else
            MAP[x][y] &= ~BOTTOM;
}

void setLeftWall(unsigned char x, unsigned char y, bool wall)
{
    if(validDimen(x, y))
        if(wall)
            MAP[x][y] |= LEFT;            
        else
            MAP[x][y] &= ~LEFT;
}

void setRightWall(unsigned char x, unsigned char y, bool wall)
{
    if(validDimen(x, y))
        if(wall)
            MAP[x][y] |= RIGHT;            
        else
            MAP[x][y] &= ~RIGHT;
}
//done
void orientation_turnAround()
{
    switch(orientation)
    {
        case NORTH:
            orientation = SOUTH;
            break;
        case WEST:
            orientation = EAST;
            break;            
        case SOUTH:
            orientation = NORTH;
            break;            
        case EAST:
            orientation = WEST;
            break;            
    }
}


void orientation_turnLeft()
{
    switch(orientation)
    {
        case NORTH:
            orientation = WEST;
            break;
        case WEST:
            orientation = SOUTH;
            break;            
        case SOUTH:
            orientation = EAST;
            break;            
        case EAST:
            orientation = NORTH;
            break;            
    }
}


//done
void orientation_turnRight()
{
    switch(orientation)
    {
        case NORTH:
            orientation = EAST;
            break;            
        case WEST:
            orientation = NORTH;
            break;            
        case SOUTH:
            orientation = WEST;
            break;
        case EAST:
            orientation = SOUTH;
            break;
    }
}

//DONE
void setFront(unsigned char x, unsigned char y, bool w)
{
    switch(orientation)
    {
        case NORTH:
            setTopWall(x, y, w);
            setBottomWall(x - 1, y, w);
            break;
        case EAST:
            setRightWall(x, y, w);        
            setLeftWall(x, y + 1, w);
            break;
        case WEST:
            setLeftWall(x, y, w);
            setRightWall(x, y - 1, w);
            break;
        case SOUTH:
            setBottomWall(x, y, w);
            setTopWall(x + 1, y, w);
            break;
    }
}

//DONE
void setRight(unsigned char x, unsigned char y, bool w)
{
    switch(orientation)
    {
        case WEST:
            setTopWall(x, y, w);
            setBottomWall(x - 1, y, w);
            break;
        case NORTH:
            setRightWall(x, y, w);        
            setLeftWall(x, y + 1, w);
            break;
        case SOUTH:
            setLeftWall(x, y, w);
            setRightWall(x, y - 1, w);
            break;
        case EAST:
            setBottomWall(x, y, w);
            setTopWall(x + 1, y, w);
            break;
    }
}

//DONE
void setLeft(unsigned char x, unsigned char y, bool w)
{
    switch(orientation)
    {
        case EAST:
            setTopWall(x, y, w);
            setBottomWall(x - 1, y, w);
            break;
        case SOUTH:
            setRightWall(x, y, w);        
            setLeftWall(x, y + 1, w);
            break;
        case NORTH:
            setLeftWall(x, y, w);
            setRightWall(x, y - 1, w);
            break;
        case WEST:
            setBottomWall(x, y, w);
            setTopWall(x + 1, y, w);
            break;
    }
}

void setLeft(bool exists)
{
    setLeft(Xpos, Ypos, exists);   
}

void setRight(bool exists)
{
    setRight(Xpos, Ypos, exists);   
}

void setFront(bool exists)
{
    setFront(Xpos, Ypos, exists);   
}

void printMap(Serial out)
{
    for(int i = 0; i < 16; i++)
    {
        for(int j = 0; j < 16; j++) 
        {
            out.printf("%-2i ", MAP[i][j]);
        }
        
        out.printf("\r");
    }   
    out.printf("\n\r");
}

float round(double r)
{
    double f = floor(r);
    if(r > f + 0.5)
    r = ceil(r);
    else
    r = f;
    return r;
}


void updateMaze()
{
    //int cells_traveled = (int)round(time/0.3351);
    while(cells_traveled > 1)
    {
       //increment position along direction
       setRight(true);
       setLeft(true);
       cells_traveled--;
    } 
    //increment position along direction   
    if(wallRight())
    setRight(true);
    else
    setRight(false);
    if(wallLeft())
    setLeft(true);
    else
    setLeft(false);
    if(wallFront())
    setFront(true);
    else
    setFront(false);
}



#endif