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Fork of m3pi by
Resources.h@13:f55ec972be61, 2013-04-19 (annotated)
- Committer:
- s4stevo
- Date:
- Fri Apr 19 18:06:35 2013 +0000
- Revision:
- 13:f55ec972be61
- Parent:
- 12:042135807ee8
- Child:
- 14:4739a7ef4251
timer working;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
s4stevo | 11:d6f259026b7c | 1 | |
s4stevo | 11:d6f259026b7c | 2 | |
s4stevo | 11:d6f259026b7c | 3 | |
s4stevo | 11:d6f259026b7c | 4 | enum WALLS |
s4stevo | 11:d6f259026b7c | 5 | { |
s4stevo | 11:d6f259026b7c | 6 | EMPTY = 0x00, |
s4stevo | 11:d6f259026b7c | 7 | RIGHT = 0x01, |
s4stevo | 11:d6f259026b7c | 8 | LEFT = 0x02, |
s4stevo | 11:d6f259026b7c | 9 | BOTTOM = 0x04, |
s4stevo | 11:d6f259026b7c | 10 | TOP = 0x08, |
s4stevo | 11:d6f259026b7c | 11 | |
s4stevo | 11:d6f259026b7c | 12 | |
s4stevo | 11:d6f259026b7c | 13 | NTOP = 0x07, |
s4stevo | 11:d6f259026b7c | 14 | NBOTTOM = 0x0B, |
s4stevo | 11:d6f259026b7c | 15 | NLEFT = 0x0D, |
s4stevo | 11:d6f259026b7c | 16 | NRIGHT = 0x0E, |
s4stevo | 11:d6f259026b7c | 17 | FULL = 0x0F |
s4stevo | 11:d6f259026b7c | 18 | }; |
s4stevo | 11:d6f259026b7c | 19 | |
s4stevo | 11:d6f259026b7c | 20 | enum DIRECTION |
s4stevo | 11:d6f259026b7c | 21 | { |
s4stevo | 11:d6f259026b7c | 22 | NORTH = 0, |
s4stevo | 11:d6f259026b7c | 23 | EAST = 1, |
s4stevo | 11:d6f259026b7c | 24 | SOUTH = 2, |
s4stevo | 11:d6f259026b7c | 25 | WEST = 3, |
s4stevo | 11:d6f259026b7c | 26 | }; |
s4stevo | 11:d6f259026b7c | 27 | |
s4stevo | 11:d6f259026b7c | 28 | enum OPERATION |
s4stevo | 11:d6f259026b7c | 29 | { |
s4stevo | 11:d6f259026b7c | 30 | HALT = 0x00, |
s4stevo | 11:d6f259026b7c | 31 | FORWARD = 0x01, |
s4stevo | 11:d6f259026b7c | 32 | TURN_RIGHT = 0x02, |
s4stevo | 11:d6f259026b7c | 33 | TURN_LEFT = 0x03, |
s4stevo | 11:d6f259026b7c | 34 | TURN_AROUND = 0x04, |
s4stevo | 11:d6f259026b7c | 35 | SENSE_RIGHT = 0x05, |
s4stevo | 11:d6f259026b7c | 36 | SENSE_LEFT = 0x06, |
s4stevo | 11:d6f259026b7c | 37 | SENSE_FRONT = 0x07, |
s4stevo | 11:d6f259026b7c | 38 | }; |
s4stevo | 11:d6f259026b7c | 39 | |
s4stevo | 11:d6f259026b7c | 40 | int orientation = 0; |
s4stevo | 11:d6f259026b7c | 41 | |
s4stevo | 11:d6f259026b7c | 42 | void updateOrientation(signed int change) |
s4stevo | 11:d6f259026b7c | 43 | { |
s4stevo | 11:d6f259026b7c | 44 | orientation += change; |
s4stevo | 11:d6f259026b7c | 45 | orientation %= 4; |
s4stevo | 11:d6f259026b7c | 46 | }; |
s4stevo | 11:d6f259026b7c | 47 | |
s4stevo | 11:d6f259026b7c | 48 | const int size = 16; |
s4stevo | 11:d6f259026b7c | 49 | |
s4stevo | 11:d6f259026b7c | 50 | unsigned char maze1s[16][16] = { |
s4stevo | 11:d6f259026b7c | 51 | // 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 |
s4stevo | 11:d6f259026b7c | 52 | {0xA, 0xC, 0xC, 0xD, 0xE, 0xC, 0x9, 0xF, 0xA, 0xC, 0xC, 0xD, 0xE, 0x8, 0xC, 0xD}, // 1 |
s4stevo | 11:d6f259026b7c | 53 | {0x3, 0xB, 0xA, 0xD, 0xA, 0xD, 0x2, 0x8, 0x4, 0xC, 0xC, 0xC, 0xC, 0x4, 0xC, 0xD}, // 2 |
s4stevo | 11:d6f259026b7c | 54 | {0x3, 0x2, 0x5, 0xE, 0x4, 0xC, 0x5, 0x3, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF}, // 3 |
s4stevo | 11:d6f259026b7c | 55 | {0x3, 0x3, 0xB, 0xA, 0xC, 0xC, 0x8, 0x1, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF}, // 4 |
s4stevo | 11:d6f259026b7c | 56 | {0x3, 0x3, 0x3, 0x6, 0xC, 0x9, 0x3, 0x3, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF}, // 5 |
s4stevo | 11:d6f259026b7c | 57 | {0x6, 0x4, 0x4, 0xC, 0xC, 0x1, 0x3, 0x3, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF}, // 6 |
s4stevo | 11:d6f259026b7c | 58 | {0xA, 0xC, 0xC, 0xC, 0x9, 0x3, 0x2, 0x4, 0xC, 0x9, 0xA, 0xC, 0xC, 0xC, 0xC, 0x9}, // 7 |
s4stevo | 11:d6f259026b7c | 59 | {0x6, 0xC, 0x8, 0x9, 0x3, 0x3, 0x3, 0xA, 0x9, 0x3, 0x2, 0xC, 0xC, 0xC, 0xD, 0x3}, // 8 |
s4stevo | 11:d6f259026b7c | 60 | {0xB, 0xB, 0x3, 0x3, 0x3, 0x2, 0x1, 0x6, 0x4, 0x1, 0x2, 0xC, 0xC, 0xD, 0xB, 0x3}, // 9 |
s4stevo | 11:d6f259026b7c | 61 | {0x2, 0x5, 0x3, 0x3, 0x3, 0x3, 0x6, 0xC, 0xC, 0x4, 0x4, 0x9, 0xA, 0x9, 0x3, 0x3}, // 10 |
s4stevo | 11:d6f259026b7c | 62 | {0x3, 0xB, 0x7, 0x3, 0x3, 0x7, 0xA, 0xC, 0xC, 0xC, 0x8, 0x5, 0x2, 0x4, 0x4, 0x1}, // 11 |
s4stevo | 11:d6f259026b7c | 63 | {0x3, 0x2, 0x8, 0x1, 0x6, 0xD, 0x2, 0xC, 0xC, 0x9, 0x6, 0xC, 0x4, 0xC, 0x9, 0x3}, // 12 |
s4stevo | 11:d6f259026b7c | 64 | {0x3, 0x3, 0x3, 0x3, 0xA, 0xC, 0x4, 0xC, 0x9, 0x6, 0xC, 0xC, 0xC, 0x9, 0x3, 0x3}, // 13 |
s4stevo | 11:d6f259026b7c | 65 | {0x3, 0x3, 0x3, 0x3, 0x2, 0xC, 0xC, 0xC, 0x4, 0x8, 0xC, 0xC, 0xD, 0x3, 0x3, 0x3}, // 14 |
s4stevo | 11:d6f259026b7c | 66 | {0x6, 0x5, 0x3, 0x6, 0x0, 0xC, 0xC, 0xC, 0xD, 0x3, 0xE, 0xC, 0xC, 0x1, 0x7, 0x7}, // 15 |
s4stevo | 11:d6f259026b7c | 67 | {0xE, 0xC, 0x4, 0xC, 0x4, 0xC, 0xC, 0xC, 0xD, 0x6, 0xC, 0xC, 0xC, 0x4, 0xC, 0xD} // 16 |
s4stevo | 11:d6f259026b7c | 68 | }; |
s4stevo | 11:d6f259026b7c | 69 | |
s4stevo | 11:d6f259026b7c | 70 | unsigned char maze1[16][16] = { |
s4stevo | 11:d6f259026b7c | 71 | // 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 |
s4stevo | 11:d6f259026b7c | 72 | {0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF}, // 0 |
s4stevo | 11:d6f259026b7c | 73 | {0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF}, // 1 |
s4stevo | 11:d6f259026b7c | 74 | {0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF}, // 2 |
s4stevo | 11:d6f259026b7c | 75 | {0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF}, // 3 |
s4stevo | 11:d6f259026b7c | 76 | {0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF}, // 4 |
s4stevo | 11:d6f259026b7c | 77 | {0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF}, // 5 |
s4stevo | 11:d6f259026b7c | 78 | {0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xD, 0x8, 0xC, 0x8, 0x9, 0xA, 0x9}, // 6 |
s4stevo | 11:d6f259026b7c | 79 | {0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xD, 0x0, 0x9, 0x3, 0x3, 0x3, 0x3}, // 7 |
s4stevo | 11:d6f259026b7c | 80 | {0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0x3, 0x2, 0x1, 0x3, 0x3, 0x3}, // 8 |
s4stevo | 11:d6f259026b7c | 81 | {0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xE, 0x1, 0x7, 0x2, 0x1, 0x3, 0x3}, // 9 |
s4stevo | 11:d6f259026b7c | 82 | {0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xA, 0x5, 0xE, 0x5, 0x6, 0x1, 0x3}, // 10 |
s4stevo | 11:d6f259026b7c | 83 | {0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0x3, 0xA, 0x1, 0xA, 0x9, 0x3, 0x3}, // 11 |
s4stevo | 11:d6f259026b7c | 84 | {0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3}, // 12 |
s4stevo | 11:d6f259026b7c | 85 | {0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3}, // 13 |
s4stevo | 11:d6f259026b7c | 86 | {0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0x6, 0x5, 0x2, 0x5, 0x3, 0x3, 0x3}, // 14 |
s4stevo | 11:d6f259026b7c | 87 | {0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xF, 0xD, 0xC, 0x4, 0xD, 0x6, 0x5, 0x7}, // 15 |
s4stevo | 11:d6f259026b7c | 88 | }; |
s4stevo | 11:d6f259026b7c | 89 | |
s4stevo | 11:d6f259026b7c | 90 | signed int maze1F[16][16] = { |
s4stevo | 11:d6f259026b7c | 91 | // 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 |
s4stevo | 11:d6f259026b7c | 92 | {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, //1 |
s4stevo | 11:d6f259026b7c | 93 | {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, |
s4stevo | 11:d6f259026b7c | 94 | {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, //3 |
s4stevo | 11:d6f259026b7c | 95 | {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, |
s4stevo | 11:d6f259026b7c | 96 | {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, //5 |
s4stevo | 11:d6f259026b7c | 97 | {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, |
s4stevo | 11:d6f259026b7c | 98 | {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, //7 |
s4stevo | 11:d6f259026b7c | 99 | {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, |
s4stevo | 11:d6f259026b7c | 100 | {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, |
s4stevo | 11:d6f259026b7c | 101 | {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, //10 |
s4stevo | 11:d6f259026b7c | 102 | {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, |
s4stevo | 11:d6f259026b7c | 103 | {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, // 12 |
s4stevo | 11:d6f259026b7c | 104 | {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, |
s4stevo | 11:d6f259026b7c | 105 | {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, // 14 |
s4stevo | 11:d6f259026b7c | 106 | {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, |
s4stevo | 11:d6f259026b7c | 107 | {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1} // 16 |
s4stevo | 11:d6f259026b7c | 108 | }; |
s4stevo | 11:d6f259026b7c | 109 | |
s4stevo | 11:d6f259026b7c | 110 | // Visual Functions |
s4stevo | 11:d6f259026b7c | 111 | void printmaze(); |
s4stevo | 11:d6f259026b7c | 112 | void printflood(); |
s4stevo | 11:d6f259026b7c | 113 | |
s4stevo | 11:d6f259026b7c | 114 | // important Functions |
s4stevo | 11:d6f259026b7c | 115 | void floodStep(); |
s4stevo | 11:d6f259026b7c | 116 | void findPath(); |
s4stevo | 11:d6f259026b7c | 117 | void createDirections(); |
s4stevo | 11:d6f259026b7c | 118 | |
s4stevo | 11:d6f259026b7c | 119 | // CELL[i][j] <---> BYTE |
s4stevo | 11:d6f259026b7c | 120 | unsigned char cellToByte(int i, int j) |
s4stevo | 11:d6f259026b7c | 121 | { |
s4stevo | 11:d6f259026b7c | 122 | unsigned char byteVal = 0; |
s4stevo | 11:d6f259026b7c | 123 | |
s4stevo | 11:d6f259026b7c | 124 | int newi = i; |
s4stevo | 11:d6f259026b7c | 125 | int newj = j; |
s4stevo | 11:d6f259026b7c | 126 | |
s4stevo | 11:d6f259026b7c | 127 | if(newi >= 8) |
s4stevo | 11:d6f259026b7c | 128 | { |
s4stevo | 11:d6f259026b7c | 129 | byteVal += 0x80; |
s4stevo | 11:d6f259026b7c | 130 | newi-=8; |
s4stevo | 11:d6f259026b7c | 131 | } |
s4stevo | 11:d6f259026b7c | 132 | if(newi >= 4) |
s4stevo | 11:d6f259026b7c | 133 | { |
s4stevo | 11:d6f259026b7c | 134 | byteVal += 0x40; |
s4stevo | 11:d6f259026b7c | 135 | newi-=4; |
s4stevo | 11:d6f259026b7c | 136 | } |
s4stevo | 11:d6f259026b7c | 137 | if(newi >= 2) |
s4stevo | 11:d6f259026b7c | 138 | { |
s4stevo | 11:d6f259026b7c | 139 | byteVal += 0x20; |
s4stevo | 11:d6f259026b7c | 140 | newi-=2; |
s4stevo | 11:d6f259026b7c | 141 | } |
s4stevo | 11:d6f259026b7c | 142 | if(newi >= 1) |
s4stevo | 11:d6f259026b7c | 143 | { |
s4stevo | 11:d6f259026b7c | 144 | byteVal += 0x10; |
s4stevo | 11:d6f259026b7c | 145 | newi--; |
s4stevo | 11:d6f259026b7c | 146 | } |
s4stevo | 11:d6f259026b7c | 147 | |
s4stevo | 11:d6f259026b7c | 148 | if(newj >= 8) |
s4stevo | 11:d6f259026b7c | 149 | { |
s4stevo | 11:d6f259026b7c | 150 | byteVal += 0x8; |
s4stevo | 11:d6f259026b7c | 151 | newj-=8; |
s4stevo | 11:d6f259026b7c | 152 | } |
s4stevo | 11:d6f259026b7c | 153 | if(newj >= 4) |
s4stevo | 11:d6f259026b7c | 154 | { |
s4stevo | 11:d6f259026b7c | 155 | byteVal += 0x4; |
s4stevo | 11:d6f259026b7c | 156 | newj-=4; |
s4stevo | 11:d6f259026b7c | 157 | } |
s4stevo | 11:d6f259026b7c | 158 | if(newj >= 2) |
s4stevo | 11:d6f259026b7c | 159 | { |
s4stevo | 11:d6f259026b7c | 160 | byteVal += 0x2; |
s4stevo | 11:d6f259026b7c | 161 | newj-=2; |
s4stevo | 11:d6f259026b7c | 162 | } |
s4stevo | 11:d6f259026b7c | 163 | if(newj >= 1) |
s4stevo | 11:d6f259026b7c | 164 | { |
s4stevo | 11:d6f259026b7c | 165 | byteVal += 0x1; |
s4stevo | 11:d6f259026b7c | 166 | newj--; |
s4stevo | 11:d6f259026b7c | 167 | } |
s4stevo | 11:d6f259026b7c | 168 | |
s4stevo | 11:d6f259026b7c | 169 | return byteVal; |
s4stevo | 11:d6f259026b7c | 170 | } |
s4stevo | 11:d6f259026b7c | 171 | unsigned int colFromByte(unsigned char byte) |
s4stevo | 11:d6f259026b7c | 172 | { |
s4stevo | 11:d6f259026b7c | 173 | return (byte & 0x0F); |
s4stevo | 11:d6f259026b7c | 174 | } |
s4stevo | 11:d6f259026b7c | 175 | unsigned int rowFromByte(unsigned char byte) |
s4stevo | 11:d6f259026b7c | 176 | { |
s4stevo | 11:d6f259026b7c | 177 | return colFromByte((byte >> 4)); |
s4stevo | 11:d6f259026b7c | 178 | } |
s4stevo | 11:d6f259026b7c | 179 | |
s4stevo | 11:d6f259026b7c | 180 | int highestSurrounding(int r, int c) |
s4stevo | 11:d6f259026b7c | 181 | { |
s4stevo | 11:d6f259026b7c | 182 | int top = -1; |
s4stevo | 11:d6f259026b7c | 183 | if(r > 0 && !(maze1[r][c] & TOP)) |
s4stevo | 11:d6f259026b7c | 184 | top = maze1F[r-1][c]; |
s4stevo | 11:d6f259026b7c | 185 | |
s4stevo | 11:d6f259026b7c | 186 | int bottom = -1; |
s4stevo | 11:d6f259026b7c | 187 | if(r < size-1 && !(maze1[r][c] & BOTTOM)) |
s4stevo | 11:d6f259026b7c | 188 | bottom = maze1F[r+1][c]; |
s4stevo | 11:d6f259026b7c | 189 | |
s4stevo | 11:d6f259026b7c | 190 | int left = -1; |
s4stevo | 11:d6f259026b7c | 191 | if(c > 0 && !(maze1[r][c] & LEFT)) |
s4stevo | 11:d6f259026b7c | 192 | left = maze1F[r][c-1]; |
s4stevo | 11:d6f259026b7c | 193 | |
s4stevo | 11:d6f259026b7c | 194 | int right = -1; |
s4stevo | 11:d6f259026b7c | 195 | if(c < size-1 && !(maze1[r][c] & RIGHT) ) |
s4stevo | 11:d6f259026b7c | 196 | right = maze1F[r][c+1]; |
s4stevo | 11:d6f259026b7c | 197 | |
s4stevo | 11:d6f259026b7c | 198 | int max = top; |
s4stevo | 11:d6f259026b7c | 199 | |
s4stevo | 11:d6f259026b7c | 200 | if(bottom > max) |
s4stevo | 11:d6f259026b7c | 201 | max = bottom; |
s4stevo | 11:d6f259026b7c | 202 | |
s4stevo | 11:d6f259026b7c | 203 | if(left > max) |
s4stevo | 11:d6f259026b7c | 204 | max = left; |
s4stevo | 11:d6f259026b7c | 205 | |
s4stevo | 11:d6f259026b7c | 206 | if(right > max) |
s4stevo | 11:d6f259026b7c | 207 | max = right; |
s4stevo | 11:d6f259026b7c | 208 | |
s4stevo | 11:d6f259026b7c | 209 | return max; |
s4stevo | 11:d6f259026b7c | 210 | } |
s4stevo | 11:d6f259026b7c | 211 | |
s4stevo | 11:d6f259026b7c | 212 | |
s4stevo | 11:d6f259026b7c | 213 | // Global Vars |
s4stevo | 11:d6f259026b7c | 214 | int startRow = 15; // Start loc |
s4stevo | 11:d6f259026b7c | 215 | int startCol = 15; |
s4stevo | 11:d6f259026b7c | 216 | |
s4stevo | 11:d6f259026b7c | 217 | int destRow = 9; // Destination loc |
s4stevo | 11:d6f259026b7c | 218 | int destCol = 9; |
s4stevo | 11:d6f259026b7c | 219 | |
s4stevo | 13:f55ec972be61 | 220 | int currRow = startRow; // Current Loc |
s4stevo | 13:f55ec972be61 | 221 | int currCol = startCol; |
s4stevo | 11:d6f259026b7c | 222 | |
s4stevo | 11:d6f259026b7c | 223 | unsigned int Movements[5000]; |
s4stevo | 11:d6f259026b7c | 224 | int moveCounter = 0; |
s4stevo | 11:d6f259026b7c | 225 | |
s4stevo | 11:d6f259026b7c | 226 | |
s4stevo | 11:d6f259026b7c | 227 | int currentDistance = 0; // Flooding |
s4stevo | 11:d6f259026b7c | 228 | |
s4stevo | 11:d6f259026b7c | 229 | unsigned char* directions; |
s4stevo | 11:d6f259026b7c | 230 | |
s4stevo | 11:d6f259026b7c | 231 | void floodStep() |
s4stevo | 11:d6f259026b7c | 232 | { |
s4stevo | 11:d6f259026b7c | 233 | currentDistance++; |
s4stevo | 11:d6f259026b7c | 234 | |
s4stevo | 11:d6f259026b7c | 235 | int changed = 0; |
s4stevo | 11:d6f259026b7c | 236 | unsigned char changes[256]; |
s4stevo | 11:d6f259026b7c | 237 | |
s4stevo | 11:d6f259026b7c | 238 | for(int i = 0; i < size; i++) |
s4stevo | 11:d6f259026b7c | 239 | { |
s4stevo | 11:d6f259026b7c | 240 | for(int j = 0; j < size; j++) |
s4stevo | 11:d6f259026b7c | 241 | { |
s4stevo | 11:d6f259026b7c | 242 | if(maze1F[i][j] != -1) |
s4stevo | 11:d6f259026b7c | 243 | { |
s4stevo | 11:d6f259026b7c | 244 | continue; |
s4stevo | 11:d6f259026b7c | 245 | } |
s4stevo | 11:d6f259026b7c | 246 | else |
s4stevo | 11:d6f259026b7c | 247 | { |
s4stevo | 11:d6f259026b7c | 248 | if(highestSurrounding(i,j) != -1) |
s4stevo | 11:d6f259026b7c | 249 | { |
s4stevo | 11:d6f259026b7c | 250 | changes[changed] = cellToByte(i, j); |
s4stevo | 11:d6f259026b7c | 251 | changed++; |
s4stevo | 11:d6f259026b7c | 252 | } |
s4stevo | 11:d6f259026b7c | 253 | } |
s4stevo | 11:d6f259026b7c | 254 | } |
s4stevo | 11:d6f259026b7c | 255 | } |
s4stevo | 11:d6f259026b7c | 256 | |
s4stevo | 11:d6f259026b7c | 257 | for(int k = 0; k < changed; k++) |
s4stevo | 11:d6f259026b7c | 258 | { |
s4stevo | 11:d6f259026b7c | 259 | maze1F[rowFromByte(changes[k])][colFromByte(changes[k])] = currentDistance; |
s4stevo | 11:d6f259026b7c | 260 | } |
s4stevo | 11:d6f259026b7c | 261 | } |
s4stevo | 11:d6f259026b7c | 262 | |
s4stevo | 11:d6f259026b7c | 263 | void findPath() |
s4stevo | 11:d6f259026b7c | 264 | { |
s4stevo | 11:d6f259026b7c | 265 | int i = destRow; |
s4stevo | 11:d6f259026b7c | 266 | int j = destCol; |
s4stevo | 11:d6f259026b7c | 267 | |
s4stevo | 11:d6f259026b7c | 268 | int di = 0; |
s4stevo | 11:d6f259026b7c | 269 | int dj = 0; |
s4stevo | 11:d6f259026b7c | 270 | |
s4stevo | 11:d6f259026b7c | 271 | int counter = 0; |
s4stevo | 11:d6f259026b7c | 272 | |
s4stevo | 11:d6f259026b7c | 273 | directions = new unsigned char[currentDistance]; |
s4stevo | 11:d6f259026b7c | 274 | |
s4stevo | 11:d6f259026b7c | 275 | while((i != startRow) || (j != startCol)) |
s4stevo | 11:d6f259026b7c | 276 | { |
s4stevo | 11:d6f259026b7c | 277 | int min = maze1F[i][j]; |
s4stevo | 11:d6f259026b7c | 278 | |
s4stevo | 11:d6f259026b7c | 279 | if(i > 0 && !(maze1[i][j] & TOP)) |
s4stevo | 11:d6f259026b7c | 280 | { |
s4stevo | 11:d6f259026b7c | 281 | if(maze1F[i-1][j] < min && maze1F[i-1][j] != -1) |
s4stevo | 11:d6f259026b7c | 282 | { |
s4stevo | 11:d6f259026b7c | 283 | min = maze1F[i-1][j]; |
s4stevo | 11:d6f259026b7c | 284 | di = -1; |
s4stevo | 11:d6f259026b7c | 285 | dj = 0; |
s4stevo | 11:d6f259026b7c | 286 | } |
s4stevo | 11:d6f259026b7c | 287 | |
s4stevo | 11:d6f259026b7c | 288 | } |
s4stevo | 11:d6f259026b7c | 289 | |
s4stevo | 11:d6f259026b7c | 290 | if(i < size-1 && !(maze1[i][j] & BOTTOM)) |
s4stevo | 11:d6f259026b7c | 291 | { |
s4stevo | 11:d6f259026b7c | 292 | if(maze1F[i+1][j] < min && maze1F[i+1][j] != -1) |
s4stevo | 11:d6f259026b7c | 293 | { |
s4stevo | 11:d6f259026b7c | 294 | min = maze1F[i+1][j]; |
s4stevo | 12:042135807ee8 | 295 | di = 1; |
s4stevo | 11:d6f259026b7c | 296 | dj = 0; |
s4stevo | 11:d6f259026b7c | 297 | } |
s4stevo | 11:d6f259026b7c | 298 | } |
s4stevo | 11:d6f259026b7c | 299 | |
s4stevo | 11:d6f259026b7c | 300 | if(j > 0 && !(maze1[i][j] & LEFT)) |
s4stevo | 11:d6f259026b7c | 301 | { |
s4stevo | 11:d6f259026b7c | 302 | if(maze1F[i][j-1] < min && maze1F[i][j-1] != -1) |
s4stevo | 11:d6f259026b7c | 303 | { |
s4stevo | 11:d6f259026b7c | 304 | min = maze1F[i][j-1]; |
s4stevo | 11:d6f259026b7c | 305 | di = 0; |
s4stevo | 11:d6f259026b7c | 306 | dj = -1; |
s4stevo | 11:d6f259026b7c | 307 | } |
s4stevo | 11:d6f259026b7c | 308 | |
s4stevo | 11:d6f259026b7c | 309 | } |
s4stevo | 11:d6f259026b7c | 310 | |
s4stevo | 11:d6f259026b7c | 311 | if(j < size-1 && !(maze1[i][j] & RIGHT)) |
s4stevo | 11:d6f259026b7c | 312 | { |
s4stevo | 11:d6f259026b7c | 313 | if(maze1F[i][j+1] < min && maze1F[i][j+1] != -1) |
s4stevo | 11:d6f259026b7c | 314 | { |
s4stevo | 11:d6f259026b7c | 315 | min = maze1F[i][j+1]; |
s4stevo | 11:d6f259026b7c | 316 | di = 0; |
s4stevo | 12:042135807ee8 | 317 | dj = 1; |
s4stevo | 11:d6f259026b7c | 318 | } |
s4stevo | 11:d6f259026b7c | 319 | } |
s4stevo | 11:d6f259026b7c | 320 | |
s4stevo | 11:d6f259026b7c | 321 | i += di; |
s4stevo | 11:d6f259026b7c | 322 | j += dj; |
s4stevo | 11:d6f259026b7c | 323 | |
s4stevo | 11:d6f259026b7c | 324 | counter++; |
s4stevo | 11:d6f259026b7c | 325 | |
s4stevo | 11:d6f259026b7c | 326 | unsigned char byteVal = cellToByte(i, j); |
s4stevo | 11:d6f259026b7c | 327 | |
s4stevo | 11:d6f259026b7c | 328 | directions[currentDistance - counter] = byteVal; |
s4stevo | 11:d6f259026b7c | 329 | |
s4stevo | 11:d6f259026b7c | 330 | } |
s4stevo | 11:d6f259026b7c | 331 | } |
s4stevo | 11:d6f259026b7c | 332 | |
s4stevo | 11:d6f259026b7c | 333 | void turnRight() |
s4stevo | 11:d6f259026b7c | 334 | { |
s4stevo | 11:d6f259026b7c | 335 | updateOrientation(1); |
s4stevo | 11:d6f259026b7c | 336 | |
s4stevo | 11:d6f259026b7c | 337 | } |
s4stevo | 11:d6f259026b7c | 338 | |
s4stevo | 11:d6f259026b7c | 339 | void turnLeft() |
s4stevo | 11:d6f259026b7c | 340 | { |
s4stevo | 11:d6f259026b7c | 341 | updateOrientation(3); |
s4stevo | 11:d6f259026b7c | 342 | } |
s4stevo | 11:d6f259026b7c | 343 | |
s4stevo | 11:d6f259026b7c | 344 | void createDirections() |
s4stevo | 11:d6f259026b7c | 345 | { |
s4stevo | 11:d6f259026b7c | 346 | int prevRow = rowFromByte(directions[0]); |
s4stevo | 11:d6f259026b7c | 347 | int prevCol = colFromByte(directions[0]); |
s4stevo | 11:d6f259026b7c | 348 | unsigned char prevByte = directions[0]; |
s4stevo | 11:d6f259026b7c | 349 | |
s4stevo | 11:d6f259026b7c | 350 | directions[currentDistance] = cellToByte(destRow, destCol); |
s4stevo | 11:d6f259026b7c | 351 | |
s4stevo | 11:d6f259026b7c | 352 | for(int d = 1; d <= currentDistance; d++) |
s4stevo | 11:d6f259026b7c | 353 | { |
s4stevo | 11:d6f259026b7c | 354 | int row = rowFromByte(directions[d]); |
s4stevo | 11:d6f259026b7c | 355 | int col = colFromByte(directions[d]); |
s4stevo | 11:d6f259026b7c | 356 | unsigned char byte = directions[d]; |
s4stevo | 11:d6f259026b7c | 357 | |
s4stevo | 11:d6f259026b7c | 358 | switch(orientation) |
s4stevo | 11:d6f259026b7c | 359 | { |
s4stevo | 11:d6f259026b7c | 360 | case NORTH: |
s4stevo | 11:d6f259026b7c | 361 | switch((prevByte-byte)) |
s4stevo | 11:d6f259026b7c | 362 | { |
s4stevo | 11:d6f259026b7c | 363 | case -1: // GO RIGHT ONE CELL |
s4stevo | 11:d6f259026b7c | 364 | Movements[moveCounter++] = TURN_RIGHT; |
s4stevo | 11:d6f259026b7c | 365 | turnRight(); |
s4stevo | 11:d6f259026b7c | 366 | Movements[moveCounter++] = FORWARD; |
s4stevo | 11:d6f259026b7c | 367 | break; |
s4stevo | 11:d6f259026b7c | 368 | |
s4stevo | 11:d6f259026b7c | 369 | case 1: // GO LEFT |
s4stevo | 11:d6f259026b7c | 370 | Movements[moveCounter++] = TURN_LEFT; |
s4stevo | 11:d6f259026b7c | 371 | turnLeft(); |
s4stevo | 11:d6f259026b7c | 372 | Movements[moveCounter++] = FORWARD; |
s4stevo | 11:d6f259026b7c | 373 | break; |
s4stevo | 11:d6f259026b7c | 374 | |
s4stevo | 11:d6f259026b7c | 375 | case 16: // GO UP |
s4stevo | 11:d6f259026b7c | 376 | Movements[moveCounter++] = FORWARD; |
s4stevo | 11:d6f259026b7c | 377 | break; |
s4stevo | 11:d6f259026b7c | 378 | |
s4stevo | 11:d6f259026b7c | 379 | case -16:// GO DOWN |
s4stevo | 11:d6f259026b7c | 380 | Movements[moveCounter++] = TURN_RIGHT; |
s4stevo | 11:d6f259026b7c | 381 | turnRight(); |
s4stevo | 11:d6f259026b7c | 382 | Movements[moveCounter++] = TURN_RIGHT; |
s4stevo | 11:d6f259026b7c | 383 | turnRight(); |
s4stevo | 11:d6f259026b7c | 384 | Movements[moveCounter++] = FORWARD; |
s4stevo | 11:d6f259026b7c | 385 | break; |
s4stevo | 11:d6f259026b7c | 386 | } |
s4stevo | 11:d6f259026b7c | 387 | break; |
s4stevo | 11:d6f259026b7c | 388 | |
s4stevo | 11:d6f259026b7c | 389 | case EAST: |
s4stevo | 11:d6f259026b7c | 390 | switch((prevByte-byte)) |
s4stevo | 11:d6f259026b7c | 391 | { |
s4stevo | 11:d6f259026b7c | 392 | case -1: |
s4stevo | 11:d6f259026b7c | 393 | Movements[moveCounter++] = FORWARD; |
s4stevo | 11:d6f259026b7c | 394 | break; |
s4stevo | 11:d6f259026b7c | 395 | |
s4stevo | 11:d6f259026b7c | 396 | case 1: |
s4stevo | 11:d6f259026b7c | 397 | Movements[moveCounter++] = TURN_RIGHT; |
s4stevo | 11:d6f259026b7c | 398 | turnRight(); |
s4stevo | 11:d6f259026b7c | 399 | Movements[moveCounter++] = TURN_RIGHT; |
s4stevo | 11:d6f259026b7c | 400 | turnRight(); |
s4stevo | 11:d6f259026b7c | 401 | Movements[moveCounter++] = FORWARD; |
s4stevo | 11:d6f259026b7c | 402 | break; |
s4stevo | 11:d6f259026b7c | 403 | |
s4stevo | 11:d6f259026b7c | 404 | case 16: |
s4stevo | 11:d6f259026b7c | 405 | Movements[moveCounter++] = TURN_LEFT; |
s4stevo | 11:d6f259026b7c | 406 | turnLeft(); |
s4stevo | 11:d6f259026b7c | 407 | Movements[moveCounter++] = FORWARD; |
s4stevo | 11:d6f259026b7c | 408 | break; |
s4stevo | 11:d6f259026b7c | 409 | |
s4stevo | 11:d6f259026b7c | 410 | case -16: |
s4stevo | 11:d6f259026b7c | 411 | Movements[moveCounter++] = TURN_RIGHT; |
s4stevo | 11:d6f259026b7c | 412 | turnRight(); |
s4stevo | 11:d6f259026b7c | 413 | Movements[moveCounter++] = FORWARD; |
s4stevo | 11:d6f259026b7c | 414 | break; |
s4stevo | 11:d6f259026b7c | 415 | } |
s4stevo | 11:d6f259026b7c | 416 | break; |
s4stevo | 11:d6f259026b7c | 417 | |
s4stevo | 11:d6f259026b7c | 418 | case SOUTH: |
s4stevo | 11:d6f259026b7c | 419 | switch((prevByte-byte)) |
s4stevo | 11:d6f259026b7c | 420 | { |
s4stevo | 11:d6f259026b7c | 421 | case -1: |
s4stevo | 11:d6f259026b7c | 422 | Movements[moveCounter++] = TURN_LEFT; |
s4stevo | 11:d6f259026b7c | 423 | turnLeft(); |
s4stevo | 11:d6f259026b7c | 424 | Movements[moveCounter++] = FORWARD; |
s4stevo | 11:d6f259026b7c | 425 | break; |
s4stevo | 11:d6f259026b7c | 426 | |
s4stevo | 11:d6f259026b7c | 427 | case 1: |
s4stevo | 11:d6f259026b7c | 428 | Movements[moveCounter++] = TURN_RIGHT; |
s4stevo | 11:d6f259026b7c | 429 | turnRight(); |
s4stevo | 11:d6f259026b7c | 430 | Movements[moveCounter++] = FORWARD; |
s4stevo | 11:d6f259026b7c | 431 | break; |
s4stevo | 11:d6f259026b7c | 432 | |
s4stevo | 11:d6f259026b7c | 433 | case 16: |
s4stevo | 11:d6f259026b7c | 434 | Movements[moveCounter++] = TURN_RIGHT; |
s4stevo | 11:d6f259026b7c | 435 | turnRight(); |
s4stevo | 11:d6f259026b7c | 436 | Movements[moveCounter++] = TURN_RIGHT; |
s4stevo | 11:d6f259026b7c | 437 | turnRight(); |
s4stevo | 11:d6f259026b7c | 438 | Movements[moveCounter++] = FORWARD; |
s4stevo | 11:d6f259026b7c | 439 | break; |
s4stevo | 11:d6f259026b7c | 440 | |
s4stevo | 12:042135807ee8 | 441 | case -16: //DOWN |
s4stevo | 11:d6f259026b7c | 442 | Movements[moveCounter++] = FORWARD; |
s4stevo | 11:d6f259026b7c | 443 | break; |
s4stevo | 11:d6f259026b7c | 444 | } |
s4stevo | 11:d6f259026b7c | 445 | break; |
s4stevo | 11:d6f259026b7c | 446 | |
s4stevo | 11:d6f259026b7c | 447 | case WEST: |
s4stevo | 11:d6f259026b7c | 448 | switch((prevByte-byte)) |
s4stevo | 11:d6f259026b7c | 449 | { |
s4stevo | 11:d6f259026b7c | 450 | case -1: |
s4stevo | 11:d6f259026b7c | 451 | Movements[moveCounter++] = TURN_RIGHT; |
s4stevo | 11:d6f259026b7c | 452 | turnRight(); |
s4stevo | 11:d6f259026b7c | 453 | Movements[moveCounter++] = TURN_RIGHT; |
s4stevo | 11:d6f259026b7c | 454 | turnRight(); |
s4stevo | 11:d6f259026b7c | 455 | Movements[moveCounter++] = FORWARD; |
s4stevo | 11:d6f259026b7c | 456 | break; |
s4stevo | 11:d6f259026b7c | 457 | |
s4stevo | 11:d6f259026b7c | 458 | case 1: |
s4stevo | 11:d6f259026b7c | 459 | Movements[moveCounter++] = FORWARD; |
s4stevo | 11:d6f259026b7c | 460 | break; |
s4stevo | 11:d6f259026b7c | 461 | |
s4stevo | 11:d6f259026b7c | 462 | case 16: |
s4stevo | 11:d6f259026b7c | 463 | Movements[moveCounter++] = TURN_RIGHT; |
s4stevo | 11:d6f259026b7c | 464 | turnRight(); |
s4stevo | 11:d6f259026b7c | 465 | Movements[moveCounter++] = FORWARD; |
s4stevo | 11:d6f259026b7c | 466 | break; |
s4stevo | 11:d6f259026b7c | 467 | |
s4stevo | 11:d6f259026b7c | 468 | case -16: |
s4stevo | 11:d6f259026b7c | 469 | Movements[moveCounter++] = TURN_LEFT; |
s4stevo | 11:d6f259026b7c | 470 | turnLeft(); |
s4stevo | 11:d6f259026b7c | 471 | Movements[moveCounter++] = FORWARD; |
s4stevo | 11:d6f259026b7c | 472 | break; |
s4stevo | 11:d6f259026b7c | 473 | } |
s4stevo | 11:d6f259026b7c | 474 | break; |
s4stevo | 11:d6f259026b7c | 475 | } |
s4stevo | 11:d6f259026b7c | 476 | |
s4stevo | 11:d6f259026b7c | 477 | prevRow = row; |
s4stevo | 11:d6f259026b7c | 478 | prevCol = col; |
s4stevo | 11:d6f259026b7c | 479 | prevByte = byte; |
s4stevo | 11:d6f259026b7c | 480 | } |
s4stevo | 11:d6f259026b7c | 481 | |
s4stevo | 11:d6f259026b7c | 482 | Movements[moveCounter++] = HALT; |
s4stevo | 11:d6f259026b7c | 483 | } |
s4stevo | 11:d6f259026b7c | 484 | |
s4stevo | 11:d6f259026b7c | 485 | |
s4stevo | 11:d6f259026b7c | 486 | |
s4stevo | 11:d6f259026b7c | 487 | void calcFlood() |
s4stevo | 11:d6f259026b7c | 488 | { |
s4stevo | 11:d6f259026b7c | 489 | //THIS IS WHERE WE SET THE DESTINATION AND START VALUES; //OR IN THE HEADER... WHO CARES? |
s4stevo | 11:d6f259026b7c | 490 | // IF this cond is true, then the mouse begins with the REST of the maze on its right and is facing north |
s4stevo | 11:d6f259026b7c | 491 | if(false) // if pin != 1 |
s4stevo | 11:d6f259026b7c | 492 | { |
s4stevo | 11:d6f259026b7c | 493 | orientation = 0; |
s4stevo | 11:d6f259026b7c | 494 | startRow = 15; |
s4stevo | 12:042135807ee8 | 495 | startCol = 0; |
s4stevo | 11:d6f259026b7c | 496 | } |
s4stevo | 11:d6f259026b7c | 497 | else |
s4stevo | 11:d6f259026b7c | 498 | { |
s4stevo | 11:d6f259026b7c | 499 | orientation = 0; |
s4stevo | 11:d6f259026b7c | 500 | startRow = 15; |
s4stevo | 11:d6f259026b7c | 501 | startCol = 15; |
s4stevo | 11:d6f259026b7c | 502 | |
s4stevo | 11:d6f259026b7c | 503 | } |
s4stevo | 11:d6f259026b7c | 504 | |
s4stevo | 11:d6f259026b7c | 505 | maze1F[startRow][startCol] = 0; |
s4stevo | 11:d6f259026b7c | 506 | |
s4stevo | 11:d6f259026b7c | 507 | |
s4stevo | 11:d6f259026b7c | 508 | while(maze1F[destRow][destCol] == -1) |
s4stevo | 11:d6f259026b7c | 509 | { |
s4stevo | 11:d6f259026b7c | 510 | floodStep(); |
s4stevo | 11:d6f259026b7c | 511 | } |
s4stevo | 11:d6f259026b7c | 512 | |
s4stevo | 11:d6f259026b7c | 513 | findPath(); |
s4stevo | 11:d6f259026b7c | 514 | |
s4stevo | 11:d6f259026b7c | 515 | createDirections(); |
s4stevo | 11:d6f259026b7c | 516 | } |
s4stevo | 11:d6f259026b7c | 517 | |
s4stevo | 11:d6f259026b7c | 518 | |
s4stevo | 11:d6f259026b7c | 519 |