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
directive.cpp@35:d81f6b927932, 2015-09-12 (annotated)
- Committer:
- salco
- Date:
- Sat Sep 12 21:34:57 2015 +0000
- Revision:
- 35:d81f6b927932
- Parent:
- 34:dfd82c744b26
- Child:
- 36:474d4795aafa
modification du labyrithe et test du doxygen.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
salco | 2:4c5b0f6d0a6b | 1 | |
salco | 2:4c5b0f6d0a6b | 2 | #include "directive.h" |
salco | 31:ed23647fd16e | 3 | Serial pc(SERIAL_TX, SERIAL_RX); |
salco | 28:ac5c6350ed9a | 4 | int tabIR[12][2]= { |
salco | 28:ac5c6350ed9a | 5 | {80, 400},{50, 600},{40, 700},{30, 900},{25,1100}, |
salco | 28:ac5c6350ed9a | 6 | {20,1300},{15,1600},{10,2400},{ 8,2700},{ 7,3000}, |
salco | 28:ac5c6350ed9a | 7 | { 6,3200},{ 5,3100} |
salco | 28:ac5c6350ed9a | 8 | }; |
salco | 28:ac5c6350ed9a | 9 | |
salco | 28:ac5c6350ed9a | 10 | |
salco | 28:ac5c6350ed9a | 11 | |
salco | 28:ac5c6350ed9a | 12 | |
salco | 28:ac5c6350ed9a | 13 | |
salco | 2:4c5b0f6d0a6b | 14 | |
salco | 2:4c5b0f6d0a6b | 15 | Directive::Directive():TTask(0)//on veux que cette tache sois exec toute les fois que TTaskGen sexecute. |
salco | 2:4c5b0f6d0a6b | 16 | { |
salco | 28:ac5c6350ed9a | 17 | /* initialize random seed: */ |
salco | 31:ed23647fd16e | 18 | srand (time(NULL)); |
salco | 33:c8b4e5a392e6 | 19 | myMaze = new Labyrinthe(); |
salco | 33:c8b4e5a392e6 | 20 | |
salco | 28:ac5c6350ed9a | 21 | myMaze->setDirection(UP); |
salco | 28:ac5c6350ed9a | 22 | //c=0; |
salco | 35:d81f6b927932 | 23 | ssc32 = new Serial(PB_6, PB_7); |
salco | 27:ea60d12dccdf | 24 | ctrDesPattes = new Faculter_motrice(ssc32/*pc*/); |
salco | 28:ac5c6350ed9a | 25 | m_valueCapteurUltrasonic = 0; |
salco | 28:ac5c6350ed9a | 26 | m_valueCapteurIR = 0; |
salco | 28:ac5c6350ed9a | 27 | m_valueCapteurProximiter = 0; |
salco | 28:ac5c6350ed9a | 28 | for(int i =0; i<10; i++)tableauDeCommange[i]= 0; |
salco | 28:ac5c6350ed9a | 29 | size_tableauDeCommange=0; |
salco | 35:d81f6b927932 | 30 | |
salco | 35:d81f6b927932 | 31 | myMaze->setMyPos(EXPLORER); |
salco | 35:d81f6b927932 | 32 | //myMaze->setC(EXPLORER,C5); |
salco | 19:0ac80045ba4c | 33 | //m_CtrlBridge = m_CtrlBridge->getInstance(); |
salco | 19:0ac80045ba4c | 34 | //a enlever de commentaire//m_ListDesModules = m_CtrlBridge->findModule(0,1,0,0); |
salco | 27:ea60d12dccdf | 35 | |
salco | 27:ea60d12dccdf | 36 | //Serial pc(USBTX, USBRX); |
salco | 27:ea60d12dccdf | 37 | |
salco | 27:ea60d12dccdf | 38 | //ssc32->set_flow_control(0); |
salco | 31:ed23647fd16e | 39 | |
salco | 35:d81f6b927932 | 40 | |
salco | 35:d81f6b927932 | 41 | //debug("\n\r directive Init"); |
salco | 27:ea60d12dccdf | 42 | m_ListDesModules = m_CtrlBridge->findModule(0,CAPTEUR,DISTANCE,0); |
salco | 27:ea60d12dccdf | 43 | m_ListDesModules.append(m_CtrlBridge->findModule(0,CAPTEUR,PROXIMITEE,0)); |
salco | 28:ac5c6350ed9a | 44 | |
salco | 27:ea60d12dccdf | 45 | m_capteurUltrasonic= m_CtrlBridge->findModule(0,CAPTEUR,ULTRASONIQUE,0x27/*0b100111*/); |
salco | 35:d81f6b927932 | 46 | if(!(m_capteurUltrasonic.empty())) debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurUltrasonic found"); |
salco | 35:d81f6b927932 | 47 | else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurUltrasonic not found"); |
salco | 27:ea60d12dccdf | 48 | m_capteurIR= m_CtrlBridge->findModule(0,CAPTEUR,DISTANCE,0x27/*0b100111*/); |
salco | 35:d81f6b927932 | 49 | if(!(m_capteurIR.empty())) debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurIR found"); |
salco | 34:dfd82c744b26 | 50 | else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurIR not found"); |
salco | 27:ea60d12dccdf | 51 | m_capteurProximiter= m_CtrlBridge->findModule(0,CAPTEUR,PROXIMITEE,0x0E/*0b001110*/); |
salco | 34:dfd82c744b26 | 52 | if(!(m_capteurProximiter.empty()))debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurProximiter found"); |
salco | 34:dfd82c744b26 | 53 | else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurProximiter not found"); |
salco | 28:ac5c6350ed9a | 54 | |
salco | 28:ac5c6350ed9a | 55 | ctrDesPattes->moveUp(); |
salco | 28:ac5c6350ed9a | 56 | |
salco | 28:ac5c6350ed9a | 57 | bool getUp=true; |
salco | 28:ac5c6350ed9a | 58 | while((getUp)&& (! ctrDesPattes->isSeqComplet())) { |
salco | 28:ac5c6350ed9a | 59 | ctrDesPattes->exec(); |
salco | 28:ac5c6350ed9a | 60 | |
salco | 28:ac5c6350ed9a | 61 | if(ctrDesPattes->get_idFrame() >= 5) |
salco | 28:ac5c6350ed9a | 62 | getUp = false; |
salco | 28:ac5c6350ed9a | 63 | |
salco | 28:ac5c6350ed9a | 64 | } |
salco | 31:ed23647fd16e | 65 | |
salco | 28:ac5c6350ed9a | 66 | ctrDesPattes->calibre(); |
salco | 31:ed23647fd16e | 67 | |
salco | 35:d81f6b927932 | 68 | #ifdef DEBUG_DIRECTIVE_GRAPHICAL_INTERFACE |
salco | 35:d81f6b927932 | 69 | analiseMaze(); |
salco | 31:ed23647fd16e | 70 | wait(2); |
salco | 31:ed23647fd16e | 71 | debug("\x1B[2J"); //clear screen |
salco | 35:d81f6b927932 | 72 | /*debug("\x1B[25l");//hide cursor |
salco | 35:d81f6b927932 | 73 | debug("\x1B[;H");*/ //cursor default position |
salco | 31:ed23647fd16e | 74 | |
salco | 35:d81f6b927932 | 75 | //createSLbox(0,0,5,15,"Mode"); |
salco | 35:d81f6b927932 | 76 | /*createDLbox(0,0,10,20,"Menu");//(1,12,10,20,"test2"); |
salco | 31:ed23647fd16e | 77 | setText(1,3,"1) BrainControle"); |
salco | 35:d81f6b927932 | 78 | setText(1,4,"2) Show Maze");*/ |
salco | 31:ed23647fd16e | 79 | //createDLbox(16,0,5,15,"Stage"); |
salco | 31:ed23647fd16e | 80 | |
salco | 35:d81f6b927932 | 81 | |
salco | 31:ed23647fd16e | 82 | #endif |
salco | 2:4c5b0f6d0a6b | 83 | } |
salco | 2:4c5b0f6d0a6b | 84 | Directive::~Directive() |
salco | 2:4c5b0f6d0a6b | 85 | { |
salco | 11:496453b45e25 | 86 | |
salco | 3:e0d6e081a9d3 | 87 | if(ctrDesPattes) |
salco | 3:e0d6e081a9d3 | 88 | delete ctrDesPattes; |
salco | 19:0ac80045ba4c | 89 | if(ssc32) |
salco | 19:0ac80045ba4c | 90 | delete ssc32; |
salco | 31:ed23647fd16e | 91 | if(myMaze) |
salco | 28:ac5c6350ed9a | 92 | delete myMaze; |
salco | 2:4c5b0f6d0a6b | 93 | } |
salco | 3:e0d6e081a9d3 | 94 | void Directive::task(void)//ALL CODE HERE// |
salco | 2:4c5b0f6d0a6b | 95 | { |
salco | 31:ed23647fd16e | 96 | |
salco | 31:ed23647fd16e | 97 | #ifdef DEBUG_BOOT_GRAPHICAL_INTERFACE |
salco | 31:ed23647fd16e | 98 | if(pc.readable()){ |
salco | 31:ed23647fd16e | 99 | |
salco | 31:ed23647fd16e | 100 | debug("\x1B[2J"); //clear screen |
salco | 31:ed23647fd16e | 101 | debug("\x1B[25l");//hide cursor |
salco | 31:ed23647fd16e | 102 | debug("\x1B[;H"); //cursor default position |
salco | 31:ed23647fd16e | 103 | |
salco | 31:ed23647fd16e | 104 | |
salco | 31:ed23647fd16e | 105 | int idCommand; |
salco | 31:ed23647fd16e | 106 | |
salco | 31:ed23647fd16e | 107 | idCommand = fgetc(pc) - '0'; |
salco | 31:ed23647fd16e | 108 | switch(idCommand) |
salco | 31:ed23647fd16e | 109 | { |
salco | 31:ed23647fd16e | 110 | case 1: |
salco | 31:ed23647fd16e | 111 | createDLbox(0,0,10,25,"BrainControle"); |
salco | 31:ed23647fd16e | 112 | setText(1,3,"1) Move Up"); |
salco | 31:ed23647fd16e | 113 | setText(1,4,"2) Move Down"); |
salco | 31:ed23647fd16e | 114 | setText(1,5,"2) Move Left"); |
salco | 31:ed23647fd16e | 115 | setText(1,6,"2) Move Right"); |
salco | 31:ed23647fd16e | 116 | break; |
salco | 31:ed23647fd16e | 117 | |
salco | 31:ed23647fd16e | 118 | case 2: |
salco | 31:ed23647fd16e | 119 | createDLbox(0,0,10,20,"Show Maze"); |
salco | 31:ed23647fd16e | 120 | break; |
salco | 31:ed23647fd16e | 121 | } |
salco | 31:ed23647fd16e | 122 | } |
salco | 31:ed23647fd16e | 123 | #endif |
salco | 28:ac5c6350ed9a | 124 | //debug(DEBUG_DIRECTIVE_TEST,"\n\rIn task directive"); |
salco | 28:ac5c6350ed9a | 125 | if(ctrDesPattes->isSeqComplet()) { |
salco | 28:ac5c6350ed9a | 126 | if((tableauDeCommange[0] == 6) && (size_tableauDeCommange == 1)) { |
salco | 28:ac5c6350ed9a | 127 | //addTableauDeCommande(0x81); |
salco | 28:ac5c6350ed9a | 128 | //addTableauDeCommande(0x82); |
salco | 28:ac5c6350ed9a | 129 | //mabey//addTableauDeCommande(0x83); |
salco | 28:ac5c6350ed9a | 130 | addTableauDeCommande(0x84); |
salco | 28:ac5c6350ed9a | 131 | |
salco | 28:ac5c6350ed9a | 132 | //addTableauDeCommande(0x85); |
salco | 28:ac5c6350ed9a | 133 | //mabey//addTableauDeCommande(0x86); |
salco | 28:ac5c6350ed9a | 134 | addTableauDeCommande(0x87); |
salco | 28:ac5c6350ed9a | 135 | addTableauDeCommande(0x88); |
salco | 28:ac5c6350ed9a | 136 | } |
salco | 28:ac5c6350ed9a | 137 | if(tableauDeCommange[0] == 0) { |
salco | 28:ac5c6350ed9a | 138 | //pas sur que c'Est tout ce qui doit etre ici mais je vois pas quoi d'autre pour le moment. |
salco | 28:ac5c6350ed9a | 139 | |
salco | 28:ac5c6350ed9a | 140 | //////////////// |
salco | 28:ac5c6350ed9a | 141 | // Inspection // |
salco | 28:ac5c6350ed9a | 142 | //////////////// |
salco | 28:ac5c6350ed9a | 143 | //flag.append(1,0);//0x02); |
salco | 28:ac5c6350ed9a | 144 | /*for(int i=0; i<m_ListDesModules.length(); ++i) { |
salco | 28:ac5c6350ed9a | 145 | wait_us(300); |
salco | 28:ac5c6350ed9a | 146 | flag.clear(); |
salco | 28:ac5c6350ed9a | 147 | flag.append(1,7); |
salco | 28:ac5c6350ed9a | 148 | data.clear(); |
salco | 28:ac5c6350ed9a | 149 | debug("\n\r result: %d",m_CtrlBridge->send(m_ListDesModules.at(i),flag,data)); |
salco | 28:ac5c6350ed9a | 150 | |
salco | 28:ac5c6350ed9a | 151 | debug("\n\r flag: %d",flag[0]); |
salco | 28:ac5c6350ed9a | 152 | debug("\n\r data: %x",data[0]); |
salco | 28:ac5c6350ed9a | 153 | }*/ |
salco | 31:ed23647fd16e | 154 | #ifndef BACKUP |
salco | 28:ac5c6350ed9a | 155 | updateModuleValue(); |
salco | 28:ac5c6350ed9a | 156 | |
salco | 28:ac5c6350ed9a | 157 | ////////////////////////////// |
salco | 28:ac5c6350ed9a | 158 | // Traitement du Labyrinthe // |
salco | 28:ac5c6350ed9a | 159 | ////////////////////////////// |
salco | 28:ac5c6350ed9a | 160 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -IRToCm(%02f): %02f",ADCTomv(m_valueCapteurIR),IRToCm(ADCTomv(m_valueCapteurIR))); |
salco | 28:ac5c6350ed9a | 161 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -ultrasonicToInch: %02f",ultrasonicToInch(m_valueCapteurUltrasonic)); |
salco | 28:ac5c6350ed9a | 162 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -m_valueCapteurProximiter: %02d",m_valueCapteurProximiter); |
salco | 31:ed23647fd16e | 163 | |
salco | 28:ac5c6350ed9a | 164 | analiseMaze(); |
salco | 28:ac5c6350ed9a | 165 | char nextCase=0; |
salco | 31:ed23647fd16e | 166 | switch(myMaze->getDirection()) { |
salco | 31:ed23647fd16e | 167 | case UP: |
salco | 31:ed23647fd16e | 168 | nextCase = myMaze->getC(myMaze->getX(),myMaze->getY()+1); |
salco | 31:ed23647fd16e | 169 | break; |
salco | 31:ed23647fd16e | 170 | |
salco | 31:ed23647fd16e | 171 | case DOWN: |
salco | 31:ed23647fd16e | 172 | nextCase = myMaze->getC(myMaze->getX(),myMaze->getY()-1); |
salco | 31:ed23647fd16e | 173 | break; |
salco | 31:ed23647fd16e | 174 | |
salco | 31:ed23647fd16e | 175 | case LEFT: |
salco | 31:ed23647fd16e | 176 | nextCase = myMaze->getC(myMaze->getX()-1,myMaze->getY()); |
salco | 31:ed23647fd16e | 177 | break; |
salco | 31:ed23647fd16e | 178 | |
salco | 31:ed23647fd16e | 179 | case RIGHT: |
salco | 31:ed23647fd16e | 180 | nextCase = myMaze->getC(myMaze->getX()+1,myMaze->getY()); |
salco | 31:ed23647fd16e | 181 | break; |
salco | 28:ac5c6350ed9a | 182 | } |
salco | 31:ed23647fd16e | 183 | |
salco | 31:ed23647fd16e | 184 | switch(nextCase ) { |
salco | 28:ac5c6350ed9a | 185 | case VIDE: |
salco | 31:ed23647fd16e | 186 | debug(DEBUG_DIRECTIVE_TEST," Javance"); |
salco | 28:ac5c6350ed9a | 187 | addTableauDeCommande(6); |
salco | 31:ed23647fd16e | 188 | break; |
salco | 31:ed23647fd16e | 189 | |
salco | 31:ed23647fd16e | 190 | case EXPLORER:// ici pt amiliorer |
salco | 31:ed23647fd16e | 191 | debug(DEBUG_DIRECTIVE_TEST," Javance"); |
salco | 28:ac5c6350ed9a | 192 | addTableauDeCommande(6); |
salco | 31:ed23647fd16e | 193 | break; |
salco | 31:ed23647fd16e | 194 | |
salco | 31:ed23647fd16e | 195 | case MUR: |
salco | 31:ed23647fd16e | 196 | |
salco | 31:ed23647fd16e | 197 | switch(myMaze->getDirection()) { |
salco | 31:ed23647fd16e | 198 | case UP: |
salco | 31:ed23647fd16e | 199 | if(rand()%1) { |
salco | 31:ed23647fd16e | 200 | nextCase = myMaze->getC(myMaze->getX()-1,myMaze->getY()); |
salco | 31:ed23647fd16e | 201 | if(nextCase != MUR) { |
salco | 31:ed23647fd16e | 202 | } |
salco | 31:ed23647fd16e | 203 | nextCase = myMaze->getC(myMaze->getX()+1,myMaze->getY()); |
salco | 31:ed23647fd16e | 204 | } else { |
salco | 31:ed23647fd16e | 205 | nextCase = myMaze->getC(myMaze->getX()+1,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 206 | } |
salco | 31:ed23647fd16e | 207 | break; |
salco | 31:ed23647fd16e | 208 | |
salco | 31:ed23647fd16e | 209 | case DOWN: |
salco | 31:ed23647fd16e | 210 | nextCase = myMaze->getC(myMaze->getX(),myMaze->getY()-1); |
salco | 31:ed23647fd16e | 211 | break; |
salco | 31:ed23647fd16e | 212 | |
salco | 31:ed23647fd16e | 213 | case LEFT: |
salco | 31:ed23647fd16e | 214 | nextCase = myMaze->getC(myMaze->getX()-1,myMaze->getY()); |
salco | 31:ed23647fd16e | 215 | break; |
salco | 31:ed23647fd16e | 216 | |
salco | 31:ed23647fd16e | 217 | case RIGHT: |
salco | 31:ed23647fd16e | 218 | nextCase = myMaze->getC(myMaze->getX()+1,myMaze->getY()); |
salco | 31:ed23647fd16e | 219 | break; |
salco | 31:ed23647fd16e | 220 | } |
salco | 31:ed23647fd16e | 221 | |
salco | 31:ed23647fd16e | 222 | break; |
salco | 31:ed23647fd16e | 223 | |
salco | 31:ed23647fd16e | 224 | case PAS_EXPLORER: |
salco | 31:ed23647fd16e | 225 | debug(DEBUG_DIRECTIVE_TEST," Javance"); |
salco | 31:ed23647fd16e | 226 | addTableauDeCommande(6); |
salco | 31:ed23647fd16e | 227 | break; |
salco | 28:ac5c6350ed9a | 228 | } |
salco | 31:ed23647fd16e | 229 | |
salco | 31:ed23647fd16e | 230 | #endif |
salco | 31:ed23647fd16e | 231 | #if BACKUP |
salco | 28:ac5c6350ed9a | 232 | /*if((ultrasonicToInch(m_valueCapteurUltrasonic)< 1) && (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80)) //capteur ultrasson embrouiller/imprecis |
salco | 28:ac5c6350ed9a | 233 | { |
salco | 28:ac5c6350ed9a | 234 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Capteur Ultrasson brouiller"); |
salco | 28:ac5c6350ed9a | 235 | addTableauDeCommande(6); |
salco | 31:ed23647fd16e | 236 | } |
salco | 28:ac5c6350ed9a | 237 | else if(ultrasonicToInch(m_valueCapteurUltrasonic) < 10) { //plus proche que 10pouce |
salco | 28:ac5c6350ed9a | 238 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche"); |
salco | 28:ac5c6350ed9a | 239 | if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 10) { |
salco | 28:ac5c6350ed9a | 240 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR"); |
salco | 28:ac5c6350ed9a | 241 | addTableauDeCommande(7); |
salco | 28:ac5c6350ed9a | 242 | |
salco | 19:0ac80045ba4c | 243 | |
salco | 28:ac5c6350ed9a | 244 | //ici potentielle scaning |
salco | 28:ac5c6350ed9a | 245 | } else { |
salco | 28:ac5c6350ed9a | 246 | addTableauDeCommande(4); |
salco | 28:ac5c6350ed9a | 247 | addTableauDeCommande(4); |
salco | 28:ac5c6350ed9a | 248 | addTableauDeCommande(4); |
salco | 28:ac5c6350ed9a | 249 | } |
salco | 28:ac5c6350ed9a | 250 | } else { |
salco | 28:ac5c6350ed9a | 251 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Nothing:"); |
salco | 28:ac5c6350ed9a | 252 | addTableauDeCommande(6); |
salco | 31:ed23647fd16e | 253 | |
salco | 31:ed23647fd16e | 254 | |
salco | 28:ac5c6350ed9a | 255 | int randomNbr = rand() % 4; |
salco | 28:ac5c6350ed9a | 256 | switch(randomNbr) |
salco | 28:ac5c6350ed9a | 257 | { |
salco | 28:ac5c6350ed9a | 258 | case 1: |
salco | 28:ac5c6350ed9a | 259 | debug(DEBUG_DIRECTIVE_TEST," Javance"); |
salco | 28:ac5c6350ed9a | 260 | addTableauDeCommande(6); |
salco | 28:ac5c6350ed9a | 261 | break; |
salco | 28:ac5c6350ed9a | 262 | case 2: |
salco | 28:ac5c6350ed9a | 263 | debug(DEBUG_DIRECTIVE_TEST," Je tourne a gauche"); |
salco | 28:ac5c6350ed9a | 264 | addTableauDeCommande(4); |
salco | 28:ac5c6350ed9a | 265 | break; |
salco | 28:ac5c6350ed9a | 266 | case 3: |
salco | 28:ac5c6350ed9a | 267 | debug(DEBUG_DIRECTIVE_TEST," Je tourne a droite"); |
salco | 28:ac5c6350ed9a | 268 | addTableauDeCommande(5); |
salco | 28:ac5c6350ed9a | 269 | break; |
salco | 28:ac5c6350ed9a | 270 | default: |
salco | 28:ac5c6350ed9a | 271 | debug(DEBUG_DIRECTIVE_TEST," Jattend"); |
salco | 28:ac5c6350ed9a | 272 | break; |
salco | 28:ac5c6350ed9a | 273 | } |
salco | 31:ed23647fd16e | 274 | |
salco | 31:ed23647fd16e | 275 | |
salco | 28:ac5c6350ed9a | 276 | //addTableauDeCommande(6); |
salco | 28:ac5c6350ed9a | 277 | }*/ |
salco | 31:ed23647fd16e | 278 | #endif |
salco | 28:ac5c6350ed9a | 279 | /////////////// |
salco | 28:ac5c6350ed9a | 280 | // Mouvement // |
salco | 28:ac5c6350ed9a | 281 | /////////////// |
salco | 28:ac5c6350ed9a | 282 | } else { |
salco | 28:ac5c6350ed9a | 283 | switch(tableauDeCommange[0]) { |
salco | 28:ac5c6350ed9a | 284 | case 11: |
salco | 28:ac5c6350ed9a | 285 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_calibre"); |
salco | 28:ac5c6350ed9a | 286 | ctrDesPattes->calibre(); |
salco | 28:ac5c6350ed9a | 287 | break; |
salco | 28:ac5c6350ed9a | 288 | case 2: |
salco | 28:ac5c6350ed9a | 289 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveUp"); |
salco | 28:ac5c6350ed9a | 290 | ctrDesPattes->moveUp(); |
salco | 28:ac5c6350ed9a | 291 | break; |
salco | 28:ac5c6350ed9a | 292 | case 3: |
salco | 28:ac5c6350ed9a | 293 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveDown"); |
salco | 28:ac5c6350ed9a | 294 | ctrDesPattes->moveDown(); |
salco | 28:ac5c6350ed9a | 295 | break; |
salco | 28:ac5c6350ed9a | 296 | case 4: |
salco | 28:ac5c6350ed9a | 297 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_turnLeft"); |
salco | 28:ac5c6350ed9a | 298 | ctrDesPattes->turnLeft(); |
salco | 28:ac5c6350ed9a | 299 | break; |
salco | 28:ac5c6350ed9a | 300 | case 5: |
salco | 28:ac5c6350ed9a | 301 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_trunRight"); |
salco | 28:ac5c6350ed9a | 302 | ctrDesPattes->trunRight(); |
salco | 28:ac5c6350ed9a | 303 | break; |
salco | 28:ac5c6350ed9a | 304 | case 6: |
salco | 28:ac5c6350ed9a | 305 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveFront"); |
salco | 28:ac5c6350ed9a | 306 | ctrDesPattes->moveFront(); |
salco | 28:ac5c6350ed9a | 307 | break; |
salco | 28:ac5c6350ed9a | 308 | case 7: |
salco | 28:ac5c6350ed9a | 309 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveBack"); |
salco | 28:ac5c6350ed9a | 310 | ctrDesPattes->moveBack(); |
salco | 28:ac5c6350ed9a | 311 | break; |
salco | 28:ac5c6350ed9a | 312 | /*case 8: |
salco | 28:ac5c6350ed9a | 313 | ctrDesPattes->moveBack(); |
salco | 28:ac5c6350ed9a | 314 | break;*/ |
salco | 28:ac5c6350ed9a | 315 | case 0x81: |
salco | 28:ac5c6350ed9a | 316 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 1"); |
salco | 28:ac5c6350ed9a | 317 | ctrDesPattes->repositioner(1); |
salco | 28:ac5c6350ed9a | 318 | break; |
salco | 28:ac5c6350ed9a | 319 | case 0x82: |
salco | 28:ac5c6350ed9a | 320 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 2"); |
salco | 28:ac5c6350ed9a | 321 | ctrDesPattes->repositioner(2); |
salco | 28:ac5c6350ed9a | 322 | break; |
salco | 28:ac5c6350ed9a | 323 | case 0x83: |
salco | 28:ac5c6350ed9a | 324 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 3"); |
salco | 28:ac5c6350ed9a | 325 | ctrDesPattes->repositioner(3); |
salco | 28:ac5c6350ed9a | 326 | break; |
salco | 28:ac5c6350ed9a | 327 | case 0x84: |
salco | 28:ac5c6350ed9a | 328 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 4"); |
salco | 28:ac5c6350ed9a | 329 | ctrDesPattes->repositioner(4); |
salco | 28:ac5c6350ed9a | 330 | break; |
salco | 28:ac5c6350ed9a | 331 | case 0x85: |
salco | 28:ac5c6350ed9a | 332 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 5"); |
salco | 28:ac5c6350ed9a | 333 | ctrDesPattes->repositioner(5); |
salco | 28:ac5c6350ed9a | 334 | break; |
salco | 28:ac5c6350ed9a | 335 | case 0x86: |
salco | 28:ac5c6350ed9a | 336 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 6"); |
salco | 28:ac5c6350ed9a | 337 | ctrDesPattes->repositioner(6); |
salco | 28:ac5c6350ed9a | 338 | break; |
salco | 28:ac5c6350ed9a | 339 | case 0x87: |
salco | 28:ac5c6350ed9a | 340 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 7"); |
salco | 28:ac5c6350ed9a | 341 | ctrDesPattes->repositioner(7); |
salco | 28:ac5c6350ed9a | 342 | break; |
salco | 28:ac5c6350ed9a | 343 | case 0x88: |
salco | 28:ac5c6350ed9a | 344 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 8"); |
salco | 28:ac5c6350ed9a | 345 | ctrDesPattes->repositioner(8); |
salco | 28:ac5c6350ed9a | 346 | break; |
salco | 28:ac5c6350ed9a | 347 | } |
salco | 28:ac5c6350ed9a | 348 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -TAB:"); |
salco | 28:ac5c6350ed9a | 349 | for(int i =0; i<10; i++) debug(DEBUG_DIRECTIVE_TEST,"[%02x]",tableauDeCommange[i]); |
salco | 28:ac5c6350ed9a | 350 | for(int i =0; i<9; i++)tableauDeCommange[i]= tableauDeCommange[i+1]; |
salco | 28:ac5c6350ed9a | 351 | tableauDeCommange[9]=0; |
salco | 28:ac5c6350ed9a | 352 | if(size_tableauDeCommange != 0) size_tableauDeCommange--; |
salco | 28:ac5c6350ed9a | 353 | } |
salco | 28:ac5c6350ed9a | 354 | } else { |
salco | 28:ac5c6350ed9a | 355 | ctrDesPattes->exec(); |
salco | 28:ac5c6350ed9a | 356 | } |
salco | 28:ac5c6350ed9a | 357 | //////////////////// |
salco | 28:ac5c6350ed9a | 358 | // Update memoire // |
salco | 28:ac5c6350ed9a | 359 | //////////////////// |
salco | 28:ac5c6350ed9a | 360 | |
salco | 28:ac5c6350ed9a | 361 | //////////// |
salco | 28:ac5c6350ed9a | 362 | // Autre? // |
salco | 28:ac5c6350ed9a | 363 | //////////// |
salco | 28:ac5c6350ed9a | 364 | |
salco | 28:ac5c6350ed9a | 365 | |
salco | 28:ac5c6350ed9a | 366 | //debug(DEBUG_DIRECTIVE_TEST,"\n\rOut task directive"); |
salco | 28:ac5c6350ed9a | 367 | } |
salco | 28:ac5c6350ed9a | 368 | double Directive::IRToCm (double miliVolt) |
salco | 28:ac5c6350ed9a | 369 | { |
salco | 28:ac5c6350ed9a | 370 | double result=0; |
salco | 28:ac5c6350ed9a | 371 | |
salco | 28:ac5c6350ed9a | 372 | if(miliVolt < tabIR[0][1])result = tabIR[0][0]; |
salco | 28:ac5c6350ed9a | 373 | else if(miliVolt > tabIR[11][1])result = tabIR[11][0]; |
salco | 28:ac5c6350ed9a | 374 | |
salco | 28:ac5c6350ed9a | 375 | for(int i =1; (result==0)&&(i<12); i++) { |
salco | 28:ac5c6350ed9a | 376 | if((tabIR[i-1][1]<=miliVolt) && (tabIR[i][1]>miliVolt)) { |
salco | 28:ac5c6350ed9a | 377 | result=tabIR[i-1][0]+((tabIR[i][0]-tabIR[i-1][0])*((tabIR[i-1][1]-miliVolt)/(tabIR[i-1][1]-tabIR[i][1]))); |
salco | 28:ac5c6350ed9a | 378 | } |
salco | 28:ac5c6350ed9a | 379 | } |
salco | 28:ac5c6350ed9a | 380 | return result; |
salco | 28:ac5c6350ed9a | 381 | } |
salco | 28:ac5c6350ed9a | 382 | void Directive::addTableauDeCommande(unsigned char value) |
salco | 28:ac5c6350ed9a | 383 | { |
salco | 28:ac5c6350ed9a | 384 | if(size_tableauDeCommange!=10) { |
salco | 28:ac5c6350ed9a | 385 | tableauDeCommange[size_tableauDeCommange]=value; |
salco | 28:ac5c6350ed9a | 386 | size_tableauDeCommange++; |
salco | 28:ac5c6350ed9a | 387 | |
salco | 28:ac5c6350ed9a | 388 | } |
salco | 28:ac5c6350ed9a | 389 | } |
salco | 28:ac5c6350ed9a | 390 | |
salco | 28:ac5c6350ed9a | 391 | void Directive::updateModuleValue(void) |
salco | 28:ac5c6350ed9a | 392 | { |
salco | 28:ac5c6350ed9a | 393 | string flag,data; |
salco | 28:ac5c6350ed9a | 394 | flag.clear(); |
salco | 28:ac5c6350ed9a | 395 | data.clear(); |
salco | 28:ac5c6350ed9a | 396 | flag.append(1,7); |
salco | 28:ac5c6350ed9a | 397 | if(m_CtrlBridge->send(m_capteurUltrasonic[0],flag,data)) |
salco | 28:ac5c6350ed9a | 398 | m_valueCapteurUltrasonic = data[0]; |
salco | 28:ac5c6350ed9a | 399 | |
salco | 28:ac5c6350ed9a | 400 | |
salco | 28:ac5c6350ed9a | 401 | flag.clear(); |
salco | 28:ac5c6350ed9a | 402 | data.clear(); |
salco | 28:ac5c6350ed9a | 403 | flag.append(1,7); |
salco | 28:ac5c6350ed9a | 404 | if(m_CtrlBridge->send(m_capteurIR[0],flag,data)) { |
salco | 28:ac5c6350ed9a | 405 | if(data.size() == 2) { |
salco | 28:ac5c6350ed9a | 406 | m_valueCapteurIR = data[0]; |
salco | 28:ac5c6350ed9a | 407 | m_valueCapteurIR = (m_valueCapteurIR<<8) + data[1]; |
salco | 28:ac5c6350ed9a | 408 | } else |
salco | 28:ac5c6350ed9a | 409 | m_valueCapteurIR = data[0]; |
salco | 28:ac5c6350ed9a | 410 | } |
salco | 28:ac5c6350ed9a | 411 | |
salco | 28:ac5c6350ed9a | 412 | flag.clear(); |
salco | 28:ac5c6350ed9a | 413 | data.clear(); |
salco | 28:ac5c6350ed9a | 414 | flag.append(1,7); |
salco | 28:ac5c6350ed9a | 415 | if(m_CtrlBridge->send(m_capteurProximiter[0],flag,data)) |
salco | 28:ac5c6350ed9a | 416 | m_valueCapteurProximiter = data[0]; |
salco | 28:ac5c6350ed9a | 417 | } |
salco | 28:ac5c6350ed9a | 418 | |
salco | 28:ac5c6350ed9a | 419 | void Directive::analiseMaze(void) |
salco | 28:ac5c6350ed9a | 420 | { |
salco | 28:ac5c6350ed9a | 421 | char areaLatt =0; |
salco | 28:ac5c6350ed9a | 422 | char areaVert =0; |
salco | 28:ac5c6350ed9a | 423 | string mymap = myMaze->showMap(); |
salco | 28:ac5c6350ed9a | 424 | debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r Labyrinthe map: X:%02x Y:%02x \n\r",myMaze->getX(),myMaze->getY()); |
salco | 31:ed23647fd16e | 425 | for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i]); |
salco | 28:ac5c6350ed9a | 426 | debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r"); |
salco | 31:ed23647fd16e | 427 | for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+3]); |
salco | 28:ac5c6350ed9a | 428 | debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r"); |
salco | 31:ed23647fd16e | 429 | for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+6]); |
salco | 28:ac5c6350ed9a | 430 | debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r"); |
salco | 31:ed23647fd16e | 431 | |
salco | 31:ed23647fd16e | 432 | |
salco | 31:ed23647fd16e | 433 | |
salco | 31:ed23647fd16e | 434 | if((ultrasonicToInch(m_valueCapteurUltrasonic)< 1) && (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80)) { //capteur ultrasson embrouiller/imprecis |
salco | 31:ed23647fd16e | 435 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Capteur Ultrasson brouiller"); |
salco | 31:ed23647fd16e | 436 | //addTableauDeCommande(6); |
salco | 31:ed23647fd16e | 437 | } else if(ultrasonicToInch(m_valueCapteurUltrasonic) >=24) { //plus proche que 10pouce |
salco | 31:ed23647fd16e | 438 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche 2pi"); |
salco | 31:ed23647fd16e | 439 | areaLatt =2; |
salco | 31:ed23647fd16e | 440 | areaVert =2; |
salco | 31:ed23647fd16e | 441 | } else if(ultrasonicToInch(m_valueCapteurUltrasonic) >=12) { //plus proche que 10pouce |
salco | 31:ed23647fd16e | 442 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche 2pi"); |
salco | 31:ed23647fd16e | 443 | areaLatt =1; |
salco | 31:ed23647fd16e | 444 | areaVert =1; |
salco | 31:ed23647fd16e | 445 | } |
salco | 31:ed23647fd16e | 446 | if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 60) { |
salco | 31:ed23647fd16e | 447 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR"); |
salco | 31:ed23647fd16e | 448 | areaVert =2; |
salco | 31:ed23647fd16e | 449 | } else if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 30) { |
salco | 31:ed23647fd16e | 450 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR"); |
salco | 31:ed23647fd16e | 451 | areaVert =1; |
salco | 31:ed23647fd16e | 452 | } |
salco | 31:ed23647fd16e | 453 | |
salco | 31:ed23647fd16e | 454 | |
salco | 31:ed23647fd16e | 455 | switch(myMaze->getDirection()) { |
salco | 28:ac5c6350ed9a | 456 | case UP: |
salco | 31:ed23647fd16e | 457 | switch(areaVert) { |
salco | 31:ed23647fd16e | 458 | case 0: |
salco | 31:ed23647fd16e | 459 | myMaze->setC_Up(MUR); |
salco | 31:ed23647fd16e | 460 | break; |
salco | 31:ed23647fd16e | 461 | |
salco | 31:ed23647fd16e | 462 | case 1: |
salco | 31:ed23647fd16e | 463 | if(areaLatt == 0) { |
salco | 31:ed23647fd16e | 464 | myMaze->setC_Up(MUR); |
salco | 31:ed23647fd16e | 465 | } else if(areaLatt == 1) { |
salco | 31:ed23647fd16e | 466 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 467 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()+1); |
salco | 31:ed23647fd16e | 468 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 469 | |
salco | 31:ed23647fd16e | 470 | myMaze->setC(MUR,myMaze->getX(),myMaze->getY()+2); |
salco | 31:ed23647fd16e | 471 | } else if(areaLatt == 2) { |
salco | 31:ed23647fd16e | 472 | |
salco | 31:ed23647fd16e | 473 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 474 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()+1); |
salco | 31:ed23647fd16e | 475 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 476 | |
salco | 31:ed23647fd16e | 477 | myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()+2); |
salco | 31:ed23647fd16e | 478 | myMaze->setC(MUR,myMaze->getX(),myMaze->getY()+2); |
salco | 31:ed23647fd16e | 479 | myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()+2); |
salco | 31:ed23647fd16e | 480 | } |
salco | 31:ed23647fd16e | 481 | break; |
salco | 31:ed23647fd16e | 482 | |
salco | 31:ed23647fd16e | 483 | case 2: |
salco | 31:ed23647fd16e | 484 | if(areaLatt == 0) { |
salco | 31:ed23647fd16e | 485 | myMaze->setC_Up(MUR); |
salco | 31:ed23647fd16e | 486 | } else if(areaLatt == 1) { |
salco | 31:ed23647fd16e | 487 | myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()+1);//mur? |
salco | 31:ed23647fd16e | 488 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()+1); |
salco | 31:ed23647fd16e | 489 | myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()+1);//mur? |
salco | 31:ed23647fd16e | 490 | |
salco | 31:ed23647fd16e | 491 | //myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()+1);//mur? |
salco | 31:ed23647fd16e | 492 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()+2); |
salco | 31:ed23647fd16e | 493 | //myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()+1);//mur? |
salco | 31:ed23647fd16e | 494 | } else if(areaLatt == 2) { |
salco | 31:ed23647fd16e | 495 | |
salco | 31:ed23647fd16e | 496 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 497 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()+1); |
salco | 31:ed23647fd16e | 498 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 499 | |
salco | 31:ed23647fd16e | 500 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()+2); |
salco | 31:ed23647fd16e | 501 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()+2); |
salco | 31:ed23647fd16e | 502 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()+2); |
salco | 31:ed23647fd16e | 503 | } |
salco | 31:ed23647fd16e | 504 | break; |
salco | 28:ac5c6350ed9a | 505 | } |
salco | 31:ed23647fd16e | 506 | |
salco | 28:ac5c6350ed9a | 507 | break; |
salco | 31:ed23647fd16e | 508 | |
salco | 31:ed23647fd16e | 509 | case DOWN: |
salco | 31:ed23647fd16e | 510 | switch(areaVert) { |
salco | 31:ed23647fd16e | 511 | case 0: |
salco | 31:ed23647fd16e | 512 | myMaze->setC_Down(MUR); |
salco | 31:ed23647fd16e | 513 | break; |
salco | 31:ed23647fd16e | 514 | |
salco | 31:ed23647fd16e | 515 | case 1: |
salco | 31:ed23647fd16e | 516 | if(areaLatt == 0) { |
salco | 31:ed23647fd16e | 517 | myMaze->setC_Down(MUR); |
salco | 31:ed23647fd16e | 518 | } else if(areaLatt == 1) { |
salco | 31:ed23647fd16e | 519 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()-1); |
salco | 31:ed23647fd16e | 520 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()-1); |
salco | 31:ed23647fd16e | 521 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()-1); |
salco | 31:ed23647fd16e | 522 | |
salco | 31:ed23647fd16e | 523 | myMaze->setC(MUR,myMaze->getX(),myMaze->getY()-2); |
salco | 31:ed23647fd16e | 524 | } else if(areaLatt == 2) { |
salco | 31:ed23647fd16e | 525 | |
salco | 31:ed23647fd16e | 526 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()-1); |
salco | 31:ed23647fd16e | 527 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()-1); |
salco | 31:ed23647fd16e | 528 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()-1); |
salco | 31:ed23647fd16e | 529 | |
salco | 31:ed23647fd16e | 530 | myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()-2); |
salco | 31:ed23647fd16e | 531 | myMaze->setC(MUR,myMaze->getX(),myMaze->getY()-2); |
salco | 31:ed23647fd16e | 532 | myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()-2); |
salco | 31:ed23647fd16e | 533 | } |
salco | 31:ed23647fd16e | 534 | break; |
salco | 31:ed23647fd16e | 535 | |
salco | 31:ed23647fd16e | 536 | case 2: |
salco | 31:ed23647fd16e | 537 | if(areaLatt == 0) { |
salco | 31:ed23647fd16e | 538 | myMaze->setC_Down(MUR); |
salco | 31:ed23647fd16e | 539 | } else if(areaLatt == 1) { |
salco | 31:ed23647fd16e | 540 | myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()-1);//mur? |
salco | 31:ed23647fd16e | 541 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()-1); |
salco | 31:ed23647fd16e | 542 | myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()-1);//mur? |
salco | 31:ed23647fd16e | 543 | |
salco | 31:ed23647fd16e | 544 | //myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()+1);//mur? |
salco | 31:ed23647fd16e | 545 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()-2); |
salco | 31:ed23647fd16e | 546 | //myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()+1);//mur? |
salco | 31:ed23647fd16e | 547 | } else if(areaLatt == 2) { |
salco | 31:ed23647fd16e | 548 | |
salco | 31:ed23647fd16e | 549 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()-1); |
salco | 31:ed23647fd16e | 550 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()-1); |
salco | 31:ed23647fd16e | 551 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()-1); |
salco | 31:ed23647fd16e | 552 | |
salco | 31:ed23647fd16e | 553 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()-2); |
salco | 31:ed23647fd16e | 554 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()-2); |
salco | 31:ed23647fd16e | 555 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()-2); |
salco | 31:ed23647fd16e | 556 | } |
salco | 31:ed23647fd16e | 557 | break; |
salco | 28:ac5c6350ed9a | 558 | } |
salco | 28:ac5c6350ed9a | 559 | break; |
salco | 31:ed23647fd16e | 560 | |
salco | 31:ed23647fd16e | 561 | case LEFT: |
salco | 31:ed23647fd16e | 562 | switch(areaVert) { |
salco | 31:ed23647fd16e | 563 | case 0: |
salco | 31:ed23647fd16e | 564 | myMaze->setC_Left(MUR); |
salco | 31:ed23647fd16e | 565 | break; |
salco | 31:ed23647fd16e | 566 | |
salco | 31:ed23647fd16e | 567 | case 1: |
salco | 31:ed23647fd16e | 568 | if(areaLatt == 0) { |
salco | 31:ed23647fd16e | 569 | myMaze->setC_Left(MUR); |
salco | 31:ed23647fd16e | 570 | } else if(areaLatt == 1) { |
salco | 31:ed23647fd16e | 571 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()-1); |
salco | 31:ed23647fd16e | 572 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()); |
salco | 31:ed23647fd16e | 573 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 574 | |
salco | 31:ed23647fd16e | 575 | myMaze->setC(MUR,myMaze->getX()-2,myMaze->getY()); |
salco | 31:ed23647fd16e | 576 | } else if(areaLatt == 2) { |
salco | 31:ed23647fd16e | 577 | |
salco | 31:ed23647fd16e | 578 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()-1); |
salco | 31:ed23647fd16e | 579 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()); |
salco | 31:ed23647fd16e | 580 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 581 | |
salco | 31:ed23647fd16e | 582 | myMaze->setC(PAS_EXPLORER,myMaze->getX()-2,myMaze->getY()-1); |
salco | 31:ed23647fd16e | 583 | myMaze->setC(MUR,myMaze->getX()-2,myMaze->getY()); |
salco | 31:ed23647fd16e | 584 | myMaze->setC(PAS_EXPLORER,myMaze->getX()-2,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 585 | } |
salco | 31:ed23647fd16e | 586 | break; |
salco | 31:ed23647fd16e | 587 | |
salco | 31:ed23647fd16e | 588 | case 2: |
salco | 31:ed23647fd16e | 589 | if(areaLatt == 0) { |
salco | 31:ed23647fd16e | 590 | myMaze->setC_Left(MUR); |
salco | 31:ed23647fd16e | 591 | } else if(areaLatt == 1) { |
salco | 31:ed23647fd16e | 592 | myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()-1);//mur? |
salco | 31:ed23647fd16e | 593 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()); |
salco | 31:ed23647fd16e | 594 | myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()+1);//mur? |
salco | 31:ed23647fd16e | 595 | |
salco | 31:ed23647fd16e | 596 | //myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()+1);//mur? |
salco | 31:ed23647fd16e | 597 | myMaze->setC(VIDE,myMaze->getX()-2,myMaze->getY()); |
salco | 31:ed23647fd16e | 598 | //myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()+1);//mur? |
salco | 31:ed23647fd16e | 599 | } else if(areaLatt == 2) { |
salco | 31:ed23647fd16e | 600 | |
salco | 31:ed23647fd16e | 601 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()-1); |
salco | 31:ed23647fd16e | 602 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()); |
salco | 31:ed23647fd16e | 603 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 604 | |
salco | 31:ed23647fd16e | 605 | myMaze->setC(VIDE,myMaze->getX()-2,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 606 | myMaze->setC(VIDE,myMaze->getX()-2,myMaze->getY()); |
salco | 31:ed23647fd16e | 607 | myMaze->setC(VIDE,myMaze->getX()-2,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 608 | } |
salco | 31:ed23647fd16e | 609 | break; |
salco | 28:ac5c6350ed9a | 610 | } |
salco | 28:ac5c6350ed9a | 611 | break; |
salco | 31:ed23647fd16e | 612 | |
salco | 31:ed23647fd16e | 613 | case RIGHT: |
salco | 31:ed23647fd16e | 614 | switch(areaVert) { |
salco | 31:ed23647fd16e | 615 | case 0: |
salco | 31:ed23647fd16e | 616 | myMaze->setC_Right(MUR); |
salco | 31:ed23647fd16e | 617 | break; |
salco | 31:ed23647fd16e | 618 | |
salco | 31:ed23647fd16e | 619 | case 1: |
salco | 31:ed23647fd16e | 620 | if(areaLatt == 0) { |
salco | 31:ed23647fd16e | 621 | myMaze->setC_Right(MUR); |
salco | 31:ed23647fd16e | 622 | } else if(areaLatt == 1) { |
salco | 31:ed23647fd16e | 623 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()-1); |
salco | 31:ed23647fd16e | 624 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()); |
salco | 31:ed23647fd16e | 625 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 626 | |
salco | 31:ed23647fd16e | 627 | myMaze->setC(MUR,myMaze->getX()+2,myMaze->getY()); |
salco | 31:ed23647fd16e | 628 | } else if(areaLatt == 2) { |
salco | 31:ed23647fd16e | 629 | |
salco | 31:ed23647fd16e | 630 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()-1); |
salco | 31:ed23647fd16e | 631 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()); |
salco | 31:ed23647fd16e | 632 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 633 | |
salco | 31:ed23647fd16e | 634 | myMaze->setC(PAS_EXPLORER,myMaze->getX()+2,myMaze->getY()-1); |
salco | 31:ed23647fd16e | 635 | myMaze->setC(MUR,myMaze->getX()+2,myMaze->getY()); |
salco | 31:ed23647fd16e | 636 | myMaze->setC(PAS_EXPLORER,myMaze->getX()+2,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 637 | } |
salco | 31:ed23647fd16e | 638 | break; |
salco | 31:ed23647fd16e | 639 | |
salco | 31:ed23647fd16e | 640 | case 2: |
salco | 31:ed23647fd16e | 641 | if(areaLatt == 0) { |
salco | 31:ed23647fd16e | 642 | myMaze->setC_Right(MUR); |
salco | 31:ed23647fd16e | 643 | } else if(areaLatt == 1) { |
salco | 31:ed23647fd16e | 644 | myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()-1);//mur? |
salco | 31:ed23647fd16e | 645 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()); |
salco | 31:ed23647fd16e | 646 | myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()+1);//mur? |
salco | 31:ed23647fd16e | 647 | |
salco | 31:ed23647fd16e | 648 | //myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()+1);//mur? |
salco | 31:ed23647fd16e | 649 | myMaze->setC(VIDE,myMaze->getX()+2,myMaze->getY()); |
salco | 31:ed23647fd16e | 650 | //myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()+1);//mur? |
salco | 31:ed23647fd16e | 651 | } else if(areaLatt == 2) { |
salco | 31:ed23647fd16e | 652 | |
salco | 31:ed23647fd16e | 653 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()-1); |
salco | 31:ed23647fd16e | 654 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()); |
salco | 31:ed23647fd16e | 655 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 656 | |
salco | 31:ed23647fd16e | 657 | myMaze->setC(VIDE,myMaze->getX()+2,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 658 | myMaze->setC(VIDE,myMaze->getX()+2,myMaze->getY()); |
salco | 31:ed23647fd16e | 659 | myMaze->setC(VIDE,myMaze->getX()+2,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 660 | } |
salco | 31:ed23647fd16e | 661 | break; |
salco | 31:ed23647fd16e | 662 | } |
salco | 28:ac5c6350ed9a | 663 | break; |
salco | 31:ed23647fd16e | 664 | } |
salco | 2:4c5b0f6d0a6b | 665 | } |