Dino Dizdarević
Dino Dizdarević Ensar Sarajčić Projekat
Diff: main.cpp
- Revision:
- 0:868c0c4c5ec5
- Child:
- 1:97f83061d929
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Jun 04 19:24:38 2015 +0000
@@ -0,0 +1,1022 @@
+#include "mbed.h"
+#include "N5110.h"
+#define dp23 P0_0
+#define XMAX 16
+#define YMAX 9
+
+N5110 lcd(dp4, dp24, dp23, dp25, dp2, dp6, dp18);
+
+AnalogIn Ox(dp11);
+AnalogIn Oy(dp10);
+DigitalIn SW(dp1);
+
+char mapa[9][16][4]={
+ { {'1','0','1','1'},{'0','1','1','0'},{'0','0','1','1'},{'1','0','1','0'},{'1','0','1','0'},{'1','0','1','0'},{'0','1','1','0'},{'0','1','1','1'},{'0','0','1','1'},{'1','0','1','0'},{'1','1','1','0'},{'0','0','1','1'},{'0','1','1','0'},{'0','0','1','1'},{'0','0','1','0'},{'1','1','1','0'} },
+ { {'0','1','1','1'},{'0','1','0','1'},{'1','0','0','1'},{'1','0','1','0'},{'0','1','1','0'},{'0','1','1','1'},{'0','1','0','1'},{'0','1','0','1'},{'0','1','0','1'},{'0','0','1','1'},{'1','0','1','0'},{'1','1','0','0'},{'0','1','0','1'},{'0','1','0','1'},{'0','1','0','1'},{'0','0','1','1'} },
+ { {'0','0','0','1'},{'1','0','0','0'},{'1','0','1','0'},{'0','1','1','0'},{'0','1','0','1'},{'0','1','0','1'},{'0','1','0','1'},{'1','0','0','1'},{'0','0','0','0'},{'0','0','0','0'},{'1','0','1','0'},{'0','1','1','0'},{'0','1','0','1'},{'0','1','0','1'},{'0','1','0','1'},{'0','1','0','1'} },
+ { {'0','1','0','1'},{'0','0','1','1'},{'0','1','1','0'},{'0','1','0','1'},{'0','1','0','1'},{'0','1','0','1'},{'1','0','0','1'},{'0','1','1','0'},{'0','1','0','1'},{'0','1','0','1'},{'0','0','1','1'},{'0','1','0','0'},{'0','1','0','1'},{'0','1','0','1'},{'0','1','0','1'},{'0','1','0','1'} },
+ { {'0','1','0','1'},{'0','1','0','1'},{'1','0','0','1'},{'1','1','0','0'},{'1','0','0','1'},{'1','0','0','0'},{'1','1','1','0'},{'0','1','0','1'},{'0','1','0','1'},{'0','1','0','1'},{'0','1','0','1'},{'0','1','0','1'},{'0','1','0','1'},{'0','1','0','1'},{'1','1','0','1'},{'0','1','0','1'} },
+ { {'0','1','0','1'},{'0','0','0','1'},{'1','0','1','0'},{'1','0','1','0'},{'1','0','1','0'},{'0','1','1','0'},{'0','0','1','1'},{'0','1','0','0'},{'0','1','0','1'},{'0','1','0','1'},{'0','1','0','1'},{'0','1','0','1'},{'1','0','0','1'},{'1','0','0','0'},{'1','0','0','0'},{'1','1','0','0'} },
+ { {'0','1','0','1'},{'0','0','0','1'},{'0','0','1','0'},{'1','0','1','0'},{'0','1','1','0'},{'0','1','0','1'},{'1','1','0','1'},{'0','1','0','1'},{'1','1','0','1'},{'0','1','0','1'},{'0','1','0','1'},{'0','1','0','1'},{'0','0','1','1'},{'1','0','1','0'},{'1','0','1','0'},{'0','1','1','0'} },
+ { {'1','1','0','1'},{'0','1','0','1'},{'1','0','0','1'},{'1','1','1','0'},{'0','1','0','1'},{'1','0','0','1'},{'1','0','1','0'},{'1','0','0','0'},{'1','0','1','0'},{'1','1','0','0'},{'1','0','0','1'},{'1','1','0','0'},{'0','1','0','1'},{'0','0','1','1'},{'1','1','1','0'},{'0','1','0','1'} },
+ { {'1','0','1','0'},{'1','0','0','0'},{'1','0','1','0'},{'1','0','1','0'},{'1','0','0','0'},{'1','0','1','0'},{'1','0','1','0'},{'1','0','1','0'},{'1','0','1','0'},{'1','0','1','0'},{'1','0','1','0'},{'1','0','1','0'},{'1','0','0','1'},{'1','0','0','1'},{'1','0','1','0'},{'1','1','0','0'} }
+ };
+
+char x = 0, y = 8; // donji lijevi cosak, pocetak - char zbog memorije
+char orijentacija = 1; // 0 - gore, 1 - desno, 2 - dole, 3 - lijevo - char zbog memorije
+
+void crtaj2D()
+{
+ lcd.clear();
+ for(int i=0;i<9;i++)
+ for(int j=0;j<16;j++)
+ {
+
+ if(mapa[i][j][0]=='1')
+ {
+ for(int k=0;k<5;k++)
+ lcd.setPixel(j*5+k,(i+1)*5);
+ }
+ if(mapa[i][j][1]=='1')
+ {
+ for(int k=0;k<5;k++)
+ lcd.setPixel((j+1)*5,i*5+k);
+ }
+ if(mapa[i][j][2]=='1')
+ {
+ for(int k=0;k<5;k++)
+ lcd.setPixel(j*5+k,i*5);
+ }
+ if(mapa[i][j][3]=='1')
+ {
+ for(int k=0;k<5;k++)
+ lcd.setPixel(j*5,i*5+k);
+ }
+ }
+ for(int i=2; i<4; i++)
+ for(int j = 2; j < 4; j++)
+ lcd.setPixel(x*5+i, y*5+j);
+ lcd.refresh();
+ }
+
+
+void rotirajDesno()
+{
+ orijentacija++;
+ if(orijentacija > 3)
+ orijentacija = 0;
+}
+
+void rotirajLijevo()
+{
+ if(orijentacija == 0)
+ orijentacija = 3;
+ else
+ orijentacija--;
+}
+
+bool mozePravo()
+{
+ switch (orijentacija)
+ {
+ case 0:
+ if(y==YMAX)
+ return false;
+ if(mapa[y][x][0] == '0' && mapa[y+1][x][2] == '0')
+ return true;
+ break;
+ case 1:
+ if(x==XMAX)
+ return false;
+ if(mapa[y][x][1] == '0' && mapa[y][x+1][3] == '0')
+ return true;
+ break;
+ case 2:
+ if(y==0)
+ return false;
+ if(mapa[y][x][2] == '0' && mapa[y-1][x][0] == '0')
+ return true;
+ break;
+ case 3:
+ if(y==YMAX)
+ return false;
+ if(mapa[y][x][3] == '0' && mapa[y][x-1][1] == '0')
+ return true;
+ break;
+ }
+ return true;
+}
+
+void pravo()
+{
+ switch (orijentacija)
+ {
+ case 0:
+ if(y==YMAX)
+ break;
+ if(mapa[y][x][0] == '0' && mapa[y+1][x][2] == '0')
+ y++;
+ break;
+ case 1:
+ if(x==XMAX)
+ break;
+ if(mapa[y][x][1] == '0' && mapa[y][x+1][3] == '0')
+ x++;
+ break;
+ case 2:
+ if(y==0)
+ break;
+ if(mapa[y][x][2] == '0' && mapa[y-1][x][0] == '0')
+ y--;
+ case 3:
+ if(x==0)
+ break;
+ if(mapa[y][x][3] == '0' && mapa[y][x-1][1] == '0')
+ x--;
+ break;
+ }
+}
+
+void linije()
+{
+ for(int i=0; i<28;i++)
+ for(int j = 0; j < 36; j++)
+ if(36.0/28.0*i - j < 1 && 36.0/28.0*i - j > -1)
+ lcd.setPixel(i,j);
+ for(int i = 0; i < 28; i++)
+ for(int j = 0; j < 36; j++)
+ if(-36.0/28.0*(i-28) - j < 1 && -36.0/28.0*(i-28) - j > -1)
+ lcd.setPixel(i+56, j);
+ for(int i = 0; i < 84; i++)
+ lcd.setPixel(i, 24);
+ for(int j = 24; j<48; j++)
+ {
+ lcd.setPixel(18, j);
+ lcd.setPixel(66, j);
+ }
+ for(int j = 36; j < 48; j++)
+ {
+ lcd.setPixel(28, j);
+ lcd.setPixel(56, j);
+ }
+ for(int i = 28; i < 56; i++)
+ lcd.setPixel(i, 36);
+}
+
+void desni()
+{
+ for(int i = 0; i < 18; i++)
+ for(int j = 0; j < 24; j++)
+ if(36.0/28.0*i - j < 1)
+ lcd.setPixel(i, j);
+ for(int j = 24; j<48; j++)
+ for(int i = 0; i < 18; i++)
+ lcd.setPixel(i, j);
+}
+
+void lijevi()
+{
+ for(int i = 0; i < 28; i++)
+ for(int j = 0; j < 24; j++)
+ if(-36.0/28.0*(i-28) - j < 1)
+ lcd.setPixel(i+56, j);
+ for(int j = 24; j<48; j++)
+ for(int i = 0; i < 18; i++)
+ lcd.setPixel(i+66, j);
+}
+
+void skriveniDesni()
+{
+ for(int j = 24; j<48; j++)
+ for(int i = 0; i < 18; i++)
+ lcd.setPixel(i, j);
+}
+
+void skriveniLijevi()
+{
+ for(int j = 24; j<48; j++)
+ for(int i = 0; i < 18; i++)
+ lcd.setPixel(i+66, j);
+}
+
+void daljiDesni()
+{
+ for(int i=18; i<28;i++)
+ for(int j = 24; j < 36; j++)
+ if(36.0/28.0*i - j < 1)
+ lcd.setPixel(i,j);
+ for(int j = 36; j<48; j++)
+ for(int i = 18; i < 28; i++)
+ lcd.setPixel(i, j);
+}
+
+void daljiLijevi()
+{
+ for(int i = 0; i < 10; i++)
+ for(int j = 24; j < 36; j++)
+ if(-36.0/28.0*(i-28) - j < 1)
+ lcd.setPixel(i+56, j);
+ for(int j = 36; j<48; j++)
+ for(int i = 0; i < 10; i++)
+ lcd.setPixel(i+56, j);
+}
+
+void blizi()
+{
+ for(int i = 18; i < 66; i++)
+ for(int j = 24; j < 48; j++)
+ lcd.setPixel(i, j);
+}
+
+void dalji()
+{
+ for(int i = 28; i < 56; i++)
+ for(int j = 36; j < 48; j++)
+ lcd.setPixel(i, j);
+}
+
+void linijeSkretanje()
+{
+ for(int i=0; i<74;i++)
+ for(int j = 6; j < 32; j++)
+ if(24.0/74.0*i + 6 - j < 1 && 24.0/74.0*i + 6 - j > -1)
+ lcd.setPixel(i,j);
+ for(int i = 0; i < 74; i++)
+ for(int j = 6; j < 32; j++)
+ if(-24.0/74.0*(i-74) + 6 - j < 1 && -24.0/74.0*(i-74) + 6 - j > -1)
+ lcd.setPixel(i+10, j);
+ for(int i = 0; i < 42; i++)
+ for(int j = 28; j < 42; j++)
+ if(14.0/42.0*i + 28 - j < 1 && 14.0/42.0*i + 28 - j > -1)
+ lcd.setPixel(i, j);
+ for(int i = 0; i < 42; i++)
+ for(int j = 28; j < 42; j++)
+ if(-14.0/42.0*(i-42) + 28 - j < 1 && -14.0/42.0*(i-42) + 28 - j > -1)
+ lcd.setPixel(i+42, j);
+ for(int j = 30; j < 48; j++)
+ {
+ lcd.setPixel(10, j);
+ lcd.setPixel(74, j);
+ }
+ for(int j = 20; j < 48; j++)
+ lcd.setPixel(42, j);
+}
+
+void daljaDesno()
+{
+ for(int i=0; i<10;i++)
+ for(int j = 6; j < 48; j++)
+ if(14.0/48.0*i + 28 - j <1)
+ lcd.setPixel(i,j);
+}
+
+void daljaLijevo()
+{
+ for(int i = 74; i < 84; i++)
+ for(int j = 6; j < 48; j++)
+ if(-14.0/48.0*(i-48) + 28 - j <1)
+ lcd.setPixel(i, j+12);
+}
+
+void blizaDesno()
+{
+ for(int i=0; i<42;i++)
+ for(int j = 6; j < 48; j++)
+ if(24.0/74.0*i + 6 - j <1)
+ lcd.setPixel(i,j);
+}
+
+void blizaLijevo()
+{
+ for(int i = 42; i < 84; i++)
+ for(int j = 0; j < 48; j++)
+ if(-24.0/74.0*(i-74) + 6 - j < 1)
+ lcd.setPixel(i, j+4);
+}
+
+void drugaDesno()
+{
+ for(int i = 10; i < 42; i++)
+ for(int j = 10; j < 48; j++)
+ if(-24.0/74.0*(i-74) + 6 - j < 1)
+ lcd.setPixel(i, j+4);
+}
+
+void drugaLijevo()
+{
+ for(int i=42; i<74;i++)
+ for(int j = 10; j < 48; j++)
+ if(24.0/74.0*i + 6 - j <1)
+ lcd.setPixel(i,j);
+}
+
+void izaDesno()
+{
+ for(int i=10; i<42;i++)
+ for(int j = 6; j < 48; j++)
+ if(14.0/42.0*i + 28 - j <1)
+ lcd.setPixel(i,j);
+}
+
+void izaLijevo()
+{
+ for(int i = 42; i < 74; i++)
+ for(int j = 6; j < 48; j++)
+ if(-14.0/42.0*(i-42) + 28 - j <1)
+ lcd.setPixel(i, j+14);
+}
+
+void linijeNaprijed()
+{
+ for(int i = 0; i < 30; i++)
+ for(int j = 0; j < 30; j++)
+ if(i-j<1 && i-j>-1)
+ lcd.setPixel(i,j);
+ for(int i = 54; i < 84; i++)
+ for(int j = 0; j < 30; j++)
+ if(-(i-84) - j < 1 && -(i-84) - j > -1)
+ lcd.setPixel(i,j);
+ for(int i = 30; i < 54; i++)
+ lcd.setPixel(i,30);
+ for(int i = 0; i < 84; i++)
+ lcd.setPixel(i, 8);
+ for(int j = 30; j < 48; j++)
+ {
+ lcd.setPixel(30, j);
+ lcd.setPixel(54, j);
+ }
+ for(int j = 8; j < 48; j++)
+ {
+ lcd.setPixel(8, j);
+ lcd.setPixel(76, j);
+ }
+}
+
+void naprijedDalji()
+{
+ for(int i = 30; i < 54; i++)
+ for(int j = 30; j < 48; j++)
+ lcd.setPixel(i,j);
+}
+
+void naprijedLijevi()
+{
+ for(int i = 76; i < 84; i++)
+ for(int j = 0; j < 48; j++)
+ if(-(i-84) - j < 1)
+ lcd.setPixel(i,j);
+}
+
+
+void naprijedDesni()
+{
+ for(int i = 0; i < 8; i++)
+ for(int j = 0; j < 48; j++)
+ if(i-j<1)
+ lcd.setPixel(i,j);
+}
+
+void naprijedDaljiLijevi()
+{
+ for(int i = 54; i < 76; i++)
+ for(int j = 8; j < 48; j++)
+ if(-(i-84) - j <1)
+ lcd.setPixel(i,j);
+}
+
+void naprijedDaljiDesni()
+{
+ for(int i = 8; i < 30; i++)
+ for(int j = 8; j < 48; j++)
+ if(i-j<1)
+ lcd.setPixel(i,j);
+}
+
+void naprijedSkriveniLijevi()
+{
+ for(int i = 76; i<84; i++)
+ for(int j = 8; j < 48; j++)
+ lcd.setPixel(i,j);
+}
+
+void naprijedSkriveniDesni()
+{
+ for(int i = 0; i<8; i++)
+ for(int j = 8; j < 48; j++)
+ lcd.setPixel(i,j);
+}
+
+void crtaj()
+{
+ lcd.clear();
+ linije();
+ switch (orijentacija)
+ {
+ case 0:
+ if(y<YMAX)
+ {
+ if(mapa[y+1][x][0] == '1')
+ dalji();
+ if(mapa[y+1][x][3] == '1')
+ daljiLijevi();
+ if(mapa[y+1][x][1] == '1')
+ daljiDesni();
+ if(mapa[y+1][x][2] == '1' || mapa[y][x][0] == '1')
+ blizi();
+ if(x>0)
+ {
+ if(mapa[y+1][x-1][2] == '1' || mapa[y][x-1][0] == '1')
+ skriveniLijevi();
+ }
+ if(x<XMAX)
+ {
+ if(mapa[y+1][x+1][2] == '1' || mapa[y][x+1][0] == '1')
+ skriveniDesni();
+ }
+ }
+ else
+ {
+ if(mapa[y][x][0] == '1')
+ blizi();
+ if(x<XMAX)
+ if(mapa[y][x+1][0] == '1')
+ skriveniDesni();
+ if(x>0)
+ if(mapa[y][x-1][0] == '1')
+ skriveniLijevi();
+ }
+ if(mapa[y][x][1] == '1')
+ desni();
+ if(mapa[y][x][3] == '1')
+ lijevi();
+ break;
+ case 1:
+ if(x<XMAX)
+ {
+ if(mapa[y][x+1][1] == '1')
+ dalji();
+ if(mapa[y][x+1][0] == '1')
+ daljiLijevi();
+ if(mapa[y][x+1][2] == '1')
+ daljiDesni();
+ if(mapa[y][x+1][3] == '1' || mapa[y][x][1] == '1')
+ blizi();
+ if(y>0)
+ {
+ if(mapa[y-1][x+1][3] == '1' || mapa[y-1][x][1] == '1')
+ skriveniDesni();
+ }
+ if(y<YMAX)
+ {
+ if(mapa[y+1][x+1][3] == '1' || mapa[y+1][x][1] == '1')
+ skriveniLijevi();
+ }
+ }
+ else
+ {
+ if(mapa[y][x][1] == '1')
+ blizi();
+ if(y>0)
+ if(mapa[y-1][x][1] == '1')
+ skriveniDesni();
+ if(y<YMAX)
+ if(mapa[y+1][x][1] == '1')
+ skriveniLijevi();
+ }
+ if(mapa[y][x][2] == '1')
+ desni();
+ if(mapa[y][x][0] == '1')
+ lijevi();
+ break;
+ case 2:
+ if(y>0)
+ {
+ if(mapa[y-1][x][2] == '1')
+ dalji();
+ if(mapa[y-1][x][1] == '1')
+ daljiLijevi();
+ if(mapa[y-1][x][3] == '1')
+ daljiDesni();
+ if(mapa[y-1][x][0] == '1' || mapa[y][x][2] == '1')
+ blizi();
+ if(x>0)
+ {
+ if(mapa[y-1][x-1][0] == '1' || mapa[y][x-1][2] == '1')
+ skriveniDesni();
+ }
+ if(x<XMAX)
+ {
+ if(mapa[y-1][x+1][0] == '1' || mapa[y][x+1][2] == '1')
+ skriveniLijevi();
+ }
+ }
+ else
+ {
+ if(mapa[y][x][2] == '1')
+ blizi();
+ if(x>0)
+ if(mapa[y][x-1][2] == '1')
+ skriveniDesni();
+ if(x<XMAX)
+ if(mapa[y][x+1][2] == '1')
+ skriveniLijevi();
+ }
+ if(mapa[y][x][3] == '1')
+ desni();
+ if(mapa[y][x][1] == '1')
+ lijevi();
+ break;
+ case 3:
+ if(x>0)
+ {
+ if(mapa[y][x-1][3] == '1')
+ dalji();
+ if(mapa[y][x-1][2] == '1')
+ daljiLijevi();
+ if(mapa[y][x-1][0] == '1')
+ daljiDesni();
+ if(mapa[y][x-1][1] == '1' || mapa[y][x][3] == '1')
+ blizi();
+ if(y<YMAX)
+ {
+ if(mapa[y+1][x-1][1] == '1' || mapa[y+1][x][3] == '1')
+ skriveniDesni();
+ }
+ if(y>0)
+ {
+ if(mapa[y-1][x-1][1] == '1' || mapa[y-1][x][3] == '1')
+ skriveniLijevi();
+ }
+ }
+ else
+ {
+ if(mapa[y][x][3] == '1')
+ blizi();
+ if(y>0)
+ if(mapa[y-1][x][3] == '1')
+ skriveniLijevi();
+ if(y<YMAX)
+ if(mapa[y+1][x][3] == '1')
+ skriveniDesni();
+ }
+ if(mapa[y][x][0] == '1')
+ desni();
+ if(mapa[y][x][2] == '1')
+ lijevi();
+ break;
+ }
+ lcd.refresh();
+}
+
+void crtajRotacijaDesno()
+{
+ lcd.clear();
+ linijeSkretanje();
+ switch (orijentacija)
+ {
+ case 0:
+ if(y<YMAX)
+ {
+ if(mapa[y+1][x][3] == '1')
+ drugaDesno();
+ if(mapa[y+1][x][0] == '1')
+ daljaDesno();
+ if(x>0)
+ {
+ if(mapa[y+1][x-1][0] == '1')
+ izaDesno();
+ }
+ }
+ if(mapa[y][x][3] == '1')
+ blizaLijevo();
+ if(x>0)
+ {
+ if(mapa[y][x-1][0] == '1')
+ drugaLijevo();
+ if(mapa[y][x-1][3] == '1')
+ daljaLijevo();
+ if(y<YMAX)
+ {
+ if(mapa[y+1][x-1][3] == '1')
+ izaLijevo();
+ }
+ }
+ if(mapa[y][x][0] == '1')
+ blizaDesno();
+ break;
+ case 1:
+ if(x<XMAX)
+ {
+ if(mapa[y][x+1][0] == '1')
+ drugaDesno();
+ if(mapa[y][x+1][1] == '1')
+ daljaDesno();
+ if(y<YMAX)
+ {
+ if(mapa[y+1][x+1][1] == '1')
+ izaDesno();
+ }
+ }
+ if(mapa[y][x][0] == '1')
+ blizaLijevo();
+ if(y<YMAX)
+ {
+ if(mapa[y+1][x][1] == '1')
+ drugaLijevo();
+ if(mapa[y+1][x][0] == '1')
+ daljaLijevo();
+ if(x<XMAX)
+ {
+ if(mapa[y+1][x+1][0] == '1')
+ izaLijevo();
+ }
+ }
+ if(mapa[y][x][1] == '1')
+ blizaDesno();
+ break;
+ case 2:
+ if(y>0)
+ {
+ if(mapa[y-1][x][1] == '1')
+ drugaDesno();
+ if(mapa[y-1][x][2] == '1')
+ daljaDesno();
+ if(x<XMAX)
+ {
+ if(mapa[y-1][x+1][2] == '1')
+ izaDesno();
+ }
+ }
+ if(mapa[y][x][1] == '1')
+ blizaLijevo();
+ if(x<XMAX)
+ {
+ if(mapa[y][x+1][2] == '1')
+ drugaLijevo();
+ if(mapa[y][x+1][1] == '1')
+ daljaLijevo();
+ if(y>0)
+ {
+ if(mapa[y-1][x+1][1] == '1')
+ izaLijevo();
+ }
+ }
+ if(mapa[y][x][2] == '1')
+ blizaDesno();
+ break;
+ case 3:
+ if(x>0)
+ {
+ if(mapa[y][x-1][2] == '1')
+ drugaDesno();
+ if(mapa[y][x-1][3] == '1')
+ daljaDesno();
+ if(y>0)
+ {
+ if(mapa[y-1][x-1][3] == '1')
+ izaDesno();
+ }
+ }
+ if(mapa[y][x][2] == '1')
+ blizaLijevo();
+ if(y>0)
+ {
+ if(mapa[y-1][x][3] == '1')
+ drugaLijevo();
+ if(mapa[y-1][x][2] == '1')
+ daljaLijevo();
+ if(x>0)
+ {
+ if(mapa[y-1][x-1][2] == '1')
+ izaLijevo();
+ }
+ }
+ if(mapa[y][x][3] == '1')
+ blizaDesno();
+ break;
+ }
+ lcd.refresh();
+}
+
+void crtajRotacijaLijevo()
+{
+ lcd.clear();
+ linijeSkretanje();
+ switch (orijentacija)
+ {
+ case 0:
+ if(y<YMAX)
+ {
+ if(mapa[y+1][x][1] == '1')
+ drugaLijevo();
+ if(mapa[y+1][x][0] == '1')
+ daljaLijevo();
+ if(x<XMAX)
+ {
+ if(mapa[y+1][x+1][0] == '1')
+ izaLijevo();
+ }
+ }
+ if(mapa[y][x][1] == '1')
+ blizaDesno();
+ if(x<XMAX)
+ {
+ if(mapa[y][x+1][0] == '1')
+ drugaDesno();
+ if(mapa[y][x+1][1] == '1')
+ daljaDesno();
+ if(y<YMAX)
+ {
+ if(mapa[y+1][x+1][1] == '1')
+ izaDesno();
+ }
+ }
+ if(mapa[y][x][0] == '1')
+ blizaLijevo();
+ break;
+ case 1:
+ if(x<XMAX)
+ {
+ if(mapa[y][x+1][2] == '1')
+ drugaLijevo();
+ if(mapa[y][x+1][1] == '1')
+ daljaLijevo();
+ if(y>0)
+ {
+ if(mapa[y-1][x+1][1] == '1')
+ izaLijevo();
+ }
+ }
+ if(mapa[y][x][2] == '1')
+ blizaDesno();
+ if(y>0)
+ {
+ if(mapa[y-1][x][1] == '1')
+ drugaDesno();
+ if(mapa[y-1][x][2] == '1')
+ daljaDesno();
+ if(x<XMAX)
+ {
+ if(mapa[y-1][x+1][2] == '1')
+ izaDesno();
+ }
+ }
+ if(mapa[y][x][1] == '1')
+ blizaLijevo();
+ break;
+ case 2:
+ if(y>0)
+ {
+ if(mapa[y-1][x][3] == '1')
+ drugaLijevo();
+ if(mapa[y-1][x][2] == '1')
+ daljaLijevo();
+ if(x>0)
+ {
+ if(mapa[y-1][x-1][2] == '1')
+ izaLijevo();
+ }
+ }
+ if(mapa[y][x][3] == '1')
+ blizaDesno();
+ if(x>0)
+ {
+ if(mapa[y][x-1][2] == '1')
+ drugaDesno();
+ if(mapa[y][x-1][3] == '1')
+ daljaDesno();
+ if(y>0)
+ {
+ if(mapa[y-1][x-1][3] == '1')
+ izaDesno();
+ }
+ }
+ if(mapa[y][x][2] == '1')
+ blizaLijevo();
+ break;
+ case 3:
+ if(x>0)
+ {
+ if(mapa[y][x-1][0] == '1')
+ drugaLijevo();
+ if(mapa[y][x-1][3] == '1')
+ daljaLijevo();
+ if(y<YMAX)
+ {
+ if(mapa[y+1][x-1][3] == '1')
+ izaLijevo();
+ }
+ }
+ if(mapa[y][x][0] == '1')
+ blizaDesno();
+ if(y<YMAX)
+ {
+ if(mapa[y+1][x][3] == '1')
+ drugaDesno();
+ if(mapa[y+1][x][0] == '1')
+ daljaDesno();
+ if(x>0)
+ {
+ if(mapa[y+1][x-1][0] == '1')
+ izaDesno();
+ }
+ }
+ if(mapa[y][x][3] == '1')
+ blizaLijevo();
+ break;
+ }
+ lcd.refresh();
+}
+
+void crtajNaprijed()
+{
+ lcd.clear();
+ linijeNaprijed();
+ switch (orijentacija)
+ {
+ case 0:
+ if(mapa[y][x][0] == '1')
+ naprijedDalji();
+ if(mapa[y][x][3] == '1')
+ naprijedDaljiLijevi();
+ if(mapa[y][x][1] == '1')
+ naprijedDaljiDesni();
+ if(y>0)
+ {
+ if(mapa[y-1][x][3] == '1')
+ naprijedLijevi();
+ if(mapa[y-1][x][1] == '1')
+ naprijedDesni();
+ if(x>0)
+ if(mapa[y-1][x-1][0] == '1')
+ naprijedSkriveniLijevi();
+ if(x<XMAX)
+ if(mapa[y-1][x+1][0] == '1')
+ naprijedSkriveniDesni();
+ }
+ break;
+ case 1:
+ if(mapa[y][x][1] == '1')
+ naprijedDalji();
+ if(mapa[y][x][0] == '1')
+ naprijedDaljiLijevi();
+ if(mapa[y][x][2] == '1')
+ naprijedDaljiDesni();
+ if(x>0)
+ {
+ if(mapa[y][x-1][0] == '1')
+ naprijedLijevi();
+ if(mapa[y][x-1][2] == '1')
+ naprijedDesni();
+ if(y>0)
+ if(mapa[y-1][x-1][1] == '1')
+ naprijedSkriveniDesni();
+ if(y<YMAX)
+ if(mapa[y+1][x-1][1] == '1')
+ naprijedSkriveniLijevi();
+ }
+ break;
+ case 2:
+ if(mapa[y][x][2] == '1')
+ naprijedDalji();
+ if(mapa[y][x][1] == '1')
+ naprijedDaljiLijevi();
+ if(mapa[y][x][3] == '1')
+ naprijedDaljiDesni();
+ if(y<YMAX)
+ {
+ if(mapa[y+1][x][3] == '1')
+ naprijedLijevi();
+ if(mapa[y+1][x][1] == '1')
+ naprijedDesni();
+ if(x>0)
+ if(mapa[y+1][x-1][2] == '1')
+ naprijedSkriveniDesni();
+ if(x<XMAX)
+ if(mapa[y+1][x+1][2] == '1')
+ naprijedSkriveniLijevi();
+ }
+ break;
+ case 3:
+ if(mapa[y][x][3] == '1')
+ naprijedDalji();
+ if(mapa[y][x][2] == '1')
+ naprijedDaljiLijevi();
+ if(mapa[y][x][0] == '1')
+ naprijedDaljiDesni();
+ if(x<XMAX)
+ {
+ if(mapa[y][x+1][2] == '1')
+ naprijedLijevi();
+ if(mapa[y][x+1][0] == '1')
+ naprijedDesni();
+ if(y>0)
+ if(mapa[y-1][x+1][3] == '1')
+ naprijedSkriveniLijevi();
+ if(y<YMAX)
+ if(mapa[y+1][x+1][3] == '1')
+ naprijedSkriveniDesni();
+ }
+ break;
+ }
+ lcd.refresh();
+}
+Timer t;
+void citajJoystick()
+{
+ t.start();
+ crtaj();
+ while(1)
+ {
+ if(Ox>0.75)
+ {
+ rotirajLijevo();
+ crtajRotacijaLijevo();
+ wait(0.49);
+ crtaj();
+ }
+ else if(Ox<0.25)
+ {
+ rotirajDesno();
+ crtajRotacijaDesno();
+ wait(0.49);
+ crtaj();
+ }
+ else if(Oy<0.25)
+ {
+ crtaj2D();
+ wait(0.49);
+ }
+ else if(Oy>0.75)
+ {
+ pravo();
+ if(mozePravo())
+ crtajNaprijed();
+ wait(0.49);
+ crtaj();
+ }
+ wait(0.25);
+ if(x==15 && y==1) break;
+
+ }
+ t.stop();
+ lcd.clear();
+
+
+}
+
+int main() {
+ lcd.init();
+ int i = 0;
+ while(1) {
+ lcd.clear();
+ linije();
+ switch(i)
+ {
+ case 0:
+ desni();
+ break;
+ case 1:
+ lijevi();
+ break;
+ case 2:
+ daljiDesni();
+ break;
+ case 3:
+ daljiLijevi();
+ break;
+ case 4:
+ skriveniDesni();
+ break;
+ case 5:
+ skriveniLijevi();
+ break;
+ case 6:
+ dalji();
+ break;
+ case 7:
+ blizi();
+ break;
+ case 8:
+ desni();
+ lijevi();
+ break;
+ case 9:
+ daljiDesni();
+ daljiLijevi();
+ break;
+ case 10:
+ blizi();
+ skriveniDesni();
+ skriveniLijevi();
+ break;
+ case 11:
+ i = 0;
+ }
+ lcd.refresh();
+ if(SW==true)
+ citajJoystick();
+ i++;
+ wait(0.5);
+ }
+}