Alexandre Salconi-Denis
/
ProjetOctopode
Programme de contrôle de l'octopode 4DOF, Theraphosa-Salconi.
CtrlBridge
- fonction quelquonque pour communiquer avec les module
- fonction quelquonque pour faire des recherche dans les module dispo
- autre fonction pour jouer avec MemRegistre
Version 1.2.0
- Ajout d'un mode de simulation pour tester le code avec seulement un contrôleur stm32
labyrinthe.h@28:ac5c6350ed9a, 2015-07-28 (annotated)
- Committer:
- salco
- Date:
- Tue Jul 28 01:22:16 2015 +0000
- Revision:
- 28:ac5c6350ed9a
- Child:
- 33:c8b4e5a392e6
tsest
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
salco | 28:ac5c6350ed9a | 1 | /** |
salco | 28:ac5c6350ed9a | 2 | * @file TTask.h |
salco | 28:ac5c6350ed9a | 3 | * @brief Cette classe est le modele des 3 taches de controle. |
salco | 28:ac5c6350ed9a | 4 | * @author Salco |
salco | 28:ac5c6350ed9a | 5 | * @version 2.00 |
salco | 28:ac5c6350ed9a | 6 | * @date 11 mars 2015 |
salco | 28:ac5c6350ed9a | 7 | */ |
salco | 28:ac5c6350ed9a | 8 | #ifndef LABYRINTHE_H |
salco | 28:ac5c6350ed9a | 9 | #define LABYRINTHE_H |
salco | 28:ac5c6350ed9a | 10 | |
salco | 28:ac5c6350ed9a | 11 | #define DEFAULTLABLEIGHT 4 |
salco | 28:ac5c6350ed9a | 12 | #define DEBUGLABCOORD 1 |
salco | 28:ac5c6350ed9a | 13 | |
salco | 28:ac5c6350ed9a | 14 | #include "mbed.h" |
salco | 28:ac5c6350ed9a | 15 | #include "debug.h" |
salco | 28:ac5c6350ed9a | 16 | #include <string> |
salco | 28:ac5c6350ed9a | 17 | |
salco | 28:ac5c6350ed9a | 18 | #define UP 1 |
salco | 28:ac5c6350ed9a | 19 | #define DOWN 2 |
salco | 28:ac5c6350ed9a | 20 | #define LEFT 3 |
salco | 28:ac5c6350ed9a | 21 | #define RIGHT 4 |
salco | 28:ac5c6350ed9a | 22 | |
salco | 28:ac5c6350ed9a | 23 | |
salco | 28:ac5c6350ed9a | 24 | #define VIDE 3 |
salco | 28:ac5c6350ed9a | 25 | #define EXPLORER 1 |
salco | 28:ac5c6350ed9a | 26 | #define MUR 2 |
salco | 28:ac5c6350ed9a | 27 | #define PAS_EXPLORER 0 |
salco | 28:ac5c6350ed9a | 28 | |
salco | 28:ac5c6350ed9a | 29 | enum coordonerr{ |
salco | 28:ac5c6350ed9a | 30 | C1 = 1, |
salco | 28:ac5c6350ed9a | 31 | C2 = 2, |
salco | 28:ac5c6350ed9a | 32 | C3 = 3, |
salco | 28:ac5c6350ed9a | 33 | C4 = 4, |
salco | 28:ac5c6350ed9a | 34 | C5 = 5, |
salco | 28:ac5c6350ed9a | 35 | C6 = 6, |
salco | 28:ac5c6350ed9a | 36 | C7 = 7, |
salco | 28:ac5c6350ed9a | 37 | C8 = 8, |
salco | 28:ac5c6350ed9a | 38 | C9 = 9 |
salco | 28:ac5c6350ed9a | 39 | }; |
salco | 28:ac5c6350ed9a | 40 | |
salco | 28:ac5c6350ed9a | 41 | class Labyrinthe |
salco | 28:ac5c6350ed9a | 42 | { |
salco | 28:ac5c6350ed9a | 43 | char m_posX,m_posY; |
salco | 28:ac5c6350ed9a | 44 | char direction; |
salco | 28:ac5c6350ed9a | 45 | string mapDuLabyrinthe; |
salco | 28:ac5c6350ed9a | 46 | |
salco | 28:ac5c6350ed9a | 47 | int searchCoord(char posX,char posY); |
salco | 28:ac5c6350ed9a | 48 | |
salco | 28:ac5c6350ed9a | 49 | public: |
salco | 28:ac5c6350ed9a | 50 | Labyrinthe(); |
salco | 28:ac5c6350ed9a | 51 | ~Labyrinthe(); |
salco | 28:ac5c6350ed9a | 52 | |
salco | 28:ac5c6350ed9a | 53 | char getDirection(){return direction;} |
salco | 28:ac5c6350ed9a | 54 | void setDirection(char dir){direction= dir;} |
salco | 28:ac5c6350ed9a | 55 | |
salco | 28:ac5c6350ed9a | 56 | char getX(void){return m_posX;} |
salco | 28:ac5c6350ed9a | 57 | void setX(char x){m_posX = x;} |
salco | 28:ac5c6350ed9a | 58 | |
salco | 28:ac5c6350ed9a | 59 | char getY(void){return m_posY;} |
salco | 28:ac5c6350ed9a | 60 | void getY(char y){m_posY = y;} |
salco | 28:ac5c6350ed9a | 61 | |
salco | 28:ac5c6350ed9a | 62 | void goUp(void){m_posY++;} |
salco | 28:ac5c6350ed9a | 63 | void goDown(void){m_posY--;} |
salco | 28:ac5c6350ed9a | 64 | void goLeft(void){m_posX--;} |
salco | 28:ac5c6350ed9a | 65 | void posRight(void){m_posX++;} |
salco | 28:ac5c6350ed9a | 66 | |
salco | 28:ac5c6350ed9a | 67 | char getCoordoner(char &x, char &y); |
salco | 28:ac5c6350ed9a | 68 | char getCoordoner(void); |
salco | 28:ac5c6350ed9a | 69 | |
salco | 28:ac5c6350ed9a | 70 | char getC(char cX); |
salco | 28:ac5c6350ed9a | 71 | char getC(char x, char y, char cX); |
salco | 28:ac5c6350ed9a | 72 | char getC(char x, char y); |
salco | 28:ac5c6350ed9a | 73 | void setC(char value, char x, char y, char cX); |
salco | 28:ac5c6350ed9a | 74 | void setC(char value, char cX); |
salco | 28:ac5c6350ed9a | 75 | void setC(char value, char x, char y); |
salco | 28:ac5c6350ed9a | 76 | |
salco | 28:ac5c6350ed9a | 77 | void setC_Up(char value); |
salco | 28:ac5c6350ed9a | 78 | void setC_Down(char value); |
salco | 28:ac5c6350ed9a | 79 | void setC_Left(char value); |
salco | 28:ac5c6350ed9a | 80 | void setC_Right(char value); |
salco | 28:ac5c6350ed9a | 81 | |
salco | 28:ac5c6350ed9a | 82 | string showMap(void); |
salco | 28:ac5c6350ed9a | 83 | string showMap(char x, char y); |
salco | 28:ac5c6350ed9a | 84 | |
salco | 28:ac5c6350ed9a | 85 | bool updateMap(string mapUpdated); |
salco | 28:ac5c6350ed9a | 86 | bool updateMap(string mapUpdated,char x, char y); |
salco | 28:ac5c6350ed9a | 87 | bool addMap(char x, char y); |
salco | 28:ac5c6350ed9a | 88 | |
salco | 28:ac5c6350ed9a | 89 | |
salco | 28:ac5c6350ed9a | 90 | }; |
salco | 28:ac5c6350ed9a | 91 | #endif //LABYRINTHE_H// |