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@31:ed23647fd16e, 2015-08-31 (annotated)
- Committer:
- salco
- Date:
- Mon Aug 31 13:36:39 2015 +0000
- Revision:
- 31:ed23647fd16e
- Parent:
- 28:ac5c6350ed9a
- Child:
- 33:c8b4e5a392e6
reduc the #ifdef in TTaskCritique
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 | 31:ed23647fd16e | 19 | |
salco | 28:ac5c6350ed9a | 20 | myMaze->setDirection(UP); |
salco | 28:ac5c6350ed9a | 21 | //c=0; |
salco | 27:ea60d12dccdf | 22 | ssc32 = new /*Serial*//*Raw*/Serial/*(USBTX, USBRX);*/(PB_6, PB_7);//(PA_9, PA_10); |
salco | 27:ea60d12dccdf | 23 | ctrDesPattes = new Faculter_motrice(ssc32/*pc*/); |
salco | 28:ac5c6350ed9a | 24 | m_valueCapteurUltrasonic = 0; |
salco | 28:ac5c6350ed9a | 25 | m_valueCapteurIR = 0; |
salco | 28:ac5c6350ed9a | 26 | m_valueCapteurProximiter = 0; |
salco | 28:ac5c6350ed9a | 27 | for(int i =0; i<10; i++)tableauDeCommange[i]= 0; |
salco | 28:ac5c6350ed9a | 28 | size_tableauDeCommange=0; |
salco | 28:ac5c6350ed9a | 29 | myMaze->setC(EXPLORER,C5); |
salco | 19:0ac80045ba4c | 30 | //m_CtrlBridge = m_CtrlBridge->getInstance(); |
salco | 19:0ac80045ba4c | 31 | //a enlever de commentaire//m_ListDesModules = m_CtrlBridge->findModule(0,1,0,0); |
salco | 27:ea60d12dccdf | 32 | |
salco | 27:ea60d12dccdf | 33 | //Serial pc(USBTX, USBRX); |
salco | 27:ea60d12dccdf | 34 | |
salco | 27:ea60d12dccdf | 35 | //ssc32->set_flow_control(0); |
salco | 31:ed23647fd16e | 36 | |
salco | 28:ac5c6350ed9a | 37 | myMaze = new Labyrinthe(); |
salco | 27:ea60d12dccdf | 38 | debug("\n\r directive Init");//printf("Hello World\n"); |
salco | 27:ea60d12dccdf | 39 | m_ListDesModules = m_CtrlBridge->findModule(0,CAPTEUR,DISTANCE,0); |
salco | 27:ea60d12dccdf | 40 | m_ListDesModules.append(m_CtrlBridge->findModule(0,CAPTEUR,PROXIMITEE,0)); |
salco | 28:ac5c6350ed9a | 41 | |
salco | 27:ea60d12dccdf | 42 | m_capteurUltrasonic= m_CtrlBridge->findModule(0,CAPTEUR,ULTRASONIQUE,0x27/*0b100111*/); |
salco | 28:ac5c6350ed9a | 43 | if(!(m_capteurUltrasonic.empty()))debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurUltrasonic found"); |
salco | 28:ac5c6350ed9a | 44 | else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurUltrasonic not found"); |
salco | 27:ea60d12dccdf | 45 | m_capteurIR= m_CtrlBridge->findModule(0,CAPTEUR,DISTANCE,0x27/*0b100111*/); |
salco | 28:ac5c6350ed9a | 46 | if(!(m_capteurIR.empty()))debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurIR found"); |
salco | 28:ac5c6350ed9a | 47 | else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurIR not found"); |
salco | 27:ea60d12dccdf | 48 | m_capteurProximiter= m_CtrlBridge->findModule(0,CAPTEUR,PROXIMITEE,0x0E/*0b001110*/); |
salco | 28:ac5c6350ed9a | 49 | if(!(m_capteurProximiter.empty()))debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurProximiter found"); |
salco | 28:ac5c6350ed9a | 50 | else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurProximiter not found"); |
salco | 28:ac5c6350ed9a | 51 | |
salco | 28:ac5c6350ed9a | 52 | ctrDesPattes->moveUp(); |
salco | 28:ac5c6350ed9a | 53 | |
salco | 28:ac5c6350ed9a | 54 | bool getUp=true; |
salco | 28:ac5c6350ed9a | 55 | while((getUp)&& (! ctrDesPattes->isSeqComplet())) { |
salco | 28:ac5c6350ed9a | 56 | ctrDesPattes->exec(); |
salco | 28:ac5c6350ed9a | 57 | |
salco | 28:ac5c6350ed9a | 58 | if(ctrDesPattes->get_idFrame() >= 5) |
salco | 28:ac5c6350ed9a | 59 | getUp = false; |
salco | 28:ac5c6350ed9a | 60 | |
salco | 28:ac5c6350ed9a | 61 | } |
salco | 31:ed23647fd16e | 62 | |
salco | 28:ac5c6350ed9a | 63 | ctrDesPattes->calibre(); |
salco | 31:ed23647fd16e | 64 | |
salco | 31:ed23647fd16e | 65 | #ifdef DEBUG_BOOT_GRAPHICAL_INTERFACE |
salco | 31:ed23647fd16e | 66 | wait(2); |
salco | 31:ed23647fd16e | 67 | debug("\x1B[2J"); //clear screen |
salco | 31:ed23647fd16e | 68 | debug("\x1B[25l");//hide cursor |
salco | 31:ed23647fd16e | 69 | debug("\x1B[;H"); //cursor default position |
salco | 31:ed23647fd16e | 70 | |
salco | 31:ed23647fd16e | 71 | //createSLbox(0,0,5,15,"Mode"); |
salco | 31:ed23647fd16e | 72 | createDLbox(0,0,10,20,"Menu");//(1,12,10,20,"test2"); |
salco | 31:ed23647fd16e | 73 | setText(1,3,"1) BrainControle"); |
salco | 31:ed23647fd16e | 74 | setText(1,4,"2) Show Maze"); |
salco | 31:ed23647fd16e | 75 | //createDLbox(16,0,5,15,"Stage"); |
salco | 31:ed23647fd16e | 76 | |
salco | 31:ed23647fd16e | 77 | #endif |
salco | 2:4c5b0f6d0a6b | 78 | } |
salco | 2:4c5b0f6d0a6b | 79 | Directive::~Directive() |
salco | 2:4c5b0f6d0a6b | 80 | { |
salco | 11:496453b45e25 | 81 | |
salco | 3:e0d6e081a9d3 | 82 | if(ctrDesPattes) |
salco | 3:e0d6e081a9d3 | 83 | delete ctrDesPattes; |
salco | 19:0ac80045ba4c | 84 | if(ssc32) |
salco | 19:0ac80045ba4c | 85 | delete ssc32; |
salco | 31:ed23647fd16e | 86 | if(myMaze) |
salco | 28:ac5c6350ed9a | 87 | delete myMaze; |
salco | 2:4c5b0f6d0a6b | 88 | } |
salco | 3:e0d6e081a9d3 | 89 | void Directive::task(void)//ALL CODE HERE// |
salco | 2:4c5b0f6d0a6b | 90 | { |
salco | 31:ed23647fd16e | 91 | |
salco | 31:ed23647fd16e | 92 | #ifdef DEBUG_BOOT_GRAPHICAL_INTERFACE |
salco | 31:ed23647fd16e | 93 | if(pc.readable()){ |
salco | 31:ed23647fd16e | 94 | |
salco | 31:ed23647fd16e | 95 | debug("\x1B[2J"); //clear screen |
salco | 31:ed23647fd16e | 96 | debug("\x1B[25l");//hide cursor |
salco | 31:ed23647fd16e | 97 | debug("\x1B[;H"); //cursor default position |
salco | 31:ed23647fd16e | 98 | |
salco | 31:ed23647fd16e | 99 | |
salco | 31:ed23647fd16e | 100 | int idCommand; |
salco | 31:ed23647fd16e | 101 | |
salco | 31:ed23647fd16e | 102 | idCommand = fgetc(pc) - '0'; |
salco | 31:ed23647fd16e | 103 | switch(idCommand) |
salco | 31:ed23647fd16e | 104 | { |
salco | 31:ed23647fd16e | 105 | case 1: |
salco | 31:ed23647fd16e | 106 | createDLbox(0,0,10,25,"BrainControle"); |
salco | 31:ed23647fd16e | 107 | setText(1,3,"1) Move Up"); |
salco | 31:ed23647fd16e | 108 | setText(1,4,"2) Move Down"); |
salco | 31:ed23647fd16e | 109 | setText(1,5,"2) Move Left"); |
salco | 31:ed23647fd16e | 110 | setText(1,6,"2) Move Right"); |
salco | 31:ed23647fd16e | 111 | break; |
salco | 31:ed23647fd16e | 112 | |
salco | 31:ed23647fd16e | 113 | case 2: |
salco | 31:ed23647fd16e | 114 | createDLbox(0,0,10,20,"Show Maze"); |
salco | 31:ed23647fd16e | 115 | break; |
salco | 31:ed23647fd16e | 116 | } |
salco | 31:ed23647fd16e | 117 | } |
salco | 31:ed23647fd16e | 118 | #endif |
salco | 28:ac5c6350ed9a | 119 | //debug(DEBUG_DIRECTIVE_TEST,"\n\rIn task directive"); |
salco | 28:ac5c6350ed9a | 120 | if(ctrDesPattes->isSeqComplet()) { |
salco | 28:ac5c6350ed9a | 121 | if((tableauDeCommange[0] == 6) && (size_tableauDeCommange == 1)) { |
salco | 28:ac5c6350ed9a | 122 | //addTableauDeCommande(0x81); |
salco | 28:ac5c6350ed9a | 123 | //addTableauDeCommande(0x82); |
salco | 28:ac5c6350ed9a | 124 | //mabey//addTableauDeCommande(0x83); |
salco | 28:ac5c6350ed9a | 125 | addTableauDeCommande(0x84); |
salco | 28:ac5c6350ed9a | 126 | |
salco | 28:ac5c6350ed9a | 127 | //addTableauDeCommande(0x85); |
salco | 28:ac5c6350ed9a | 128 | //mabey//addTableauDeCommande(0x86); |
salco | 28:ac5c6350ed9a | 129 | addTableauDeCommande(0x87); |
salco | 28:ac5c6350ed9a | 130 | addTableauDeCommande(0x88); |
salco | 28:ac5c6350ed9a | 131 | } |
salco | 28:ac5c6350ed9a | 132 | if(tableauDeCommange[0] == 0) { |
salco | 28:ac5c6350ed9a | 133 | //pas sur que c'Est tout ce qui doit etre ici mais je vois pas quoi d'autre pour le moment. |
salco | 28:ac5c6350ed9a | 134 | |
salco | 28:ac5c6350ed9a | 135 | //////////////// |
salco | 28:ac5c6350ed9a | 136 | // Inspection // |
salco | 28:ac5c6350ed9a | 137 | //////////////// |
salco | 28:ac5c6350ed9a | 138 | //flag.append(1,0);//0x02); |
salco | 28:ac5c6350ed9a | 139 | /*for(int i=0; i<m_ListDesModules.length(); ++i) { |
salco | 28:ac5c6350ed9a | 140 | wait_us(300); |
salco | 28:ac5c6350ed9a | 141 | flag.clear(); |
salco | 28:ac5c6350ed9a | 142 | flag.append(1,7); |
salco | 28:ac5c6350ed9a | 143 | data.clear(); |
salco | 28:ac5c6350ed9a | 144 | debug("\n\r result: %d",m_CtrlBridge->send(m_ListDesModules.at(i),flag,data)); |
salco | 28:ac5c6350ed9a | 145 | |
salco | 28:ac5c6350ed9a | 146 | debug("\n\r flag: %d",flag[0]); |
salco | 28:ac5c6350ed9a | 147 | debug("\n\r data: %x",data[0]); |
salco | 28:ac5c6350ed9a | 148 | }*/ |
salco | 31:ed23647fd16e | 149 | #ifndef BACKUP |
salco | 28:ac5c6350ed9a | 150 | updateModuleValue(); |
salco | 28:ac5c6350ed9a | 151 | |
salco | 28:ac5c6350ed9a | 152 | ////////////////////////////// |
salco | 28:ac5c6350ed9a | 153 | // Traitement du Labyrinthe // |
salco | 28:ac5c6350ed9a | 154 | ////////////////////////////// |
salco | 28:ac5c6350ed9a | 155 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -IRToCm(%02f): %02f",ADCTomv(m_valueCapteurIR),IRToCm(ADCTomv(m_valueCapteurIR))); |
salco | 28:ac5c6350ed9a | 156 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -ultrasonicToInch: %02f",ultrasonicToInch(m_valueCapteurUltrasonic)); |
salco | 28:ac5c6350ed9a | 157 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -m_valueCapteurProximiter: %02d",m_valueCapteurProximiter); |
salco | 31:ed23647fd16e | 158 | |
salco | 28:ac5c6350ed9a | 159 | analiseMaze(); |
salco | 28:ac5c6350ed9a | 160 | char nextCase=0; |
salco | 31:ed23647fd16e | 161 | switch(myMaze->getDirection()) { |
salco | 31:ed23647fd16e | 162 | case UP: |
salco | 31:ed23647fd16e | 163 | nextCase = myMaze->getC(myMaze->getX(),myMaze->getY()+1); |
salco | 31:ed23647fd16e | 164 | break; |
salco | 31:ed23647fd16e | 165 | |
salco | 31:ed23647fd16e | 166 | case DOWN: |
salco | 31:ed23647fd16e | 167 | nextCase = myMaze->getC(myMaze->getX(),myMaze->getY()-1); |
salco | 31:ed23647fd16e | 168 | break; |
salco | 31:ed23647fd16e | 169 | |
salco | 31:ed23647fd16e | 170 | case LEFT: |
salco | 31:ed23647fd16e | 171 | nextCase = myMaze->getC(myMaze->getX()-1,myMaze->getY()); |
salco | 31:ed23647fd16e | 172 | break; |
salco | 31:ed23647fd16e | 173 | |
salco | 31:ed23647fd16e | 174 | case RIGHT: |
salco | 31:ed23647fd16e | 175 | nextCase = myMaze->getC(myMaze->getX()+1,myMaze->getY()); |
salco | 31:ed23647fd16e | 176 | break; |
salco | 28:ac5c6350ed9a | 177 | } |
salco | 31:ed23647fd16e | 178 | |
salco | 31:ed23647fd16e | 179 | switch(nextCase ) { |
salco | 28:ac5c6350ed9a | 180 | case VIDE: |
salco | 31:ed23647fd16e | 181 | debug(DEBUG_DIRECTIVE_TEST," Javance"); |
salco | 28:ac5c6350ed9a | 182 | addTableauDeCommande(6); |
salco | 31:ed23647fd16e | 183 | break; |
salco | 31:ed23647fd16e | 184 | |
salco | 31:ed23647fd16e | 185 | case EXPLORER:// ici pt amiliorer |
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 MUR: |
salco | 31:ed23647fd16e | 191 | |
salco | 31:ed23647fd16e | 192 | switch(myMaze->getDirection()) { |
salco | 31:ed23647fd16e | 193 | case UP: |
salco | 31:ed23647fd16e | 194 | if(rand()%1) { |
salco | 31:ed23647fd16e | 195 | nextCase = myMaze->getC(myMaze->getX()-1,myMaze->getY()); |
salco | 31:ed23647fd16e | 196 | if(nextCase != MUR) { |
salco | 31:ed23647fd16e | 197 | } |
salco | 31:ed23647fd16e | 198 | nextCase = myMaze->getC(myMaze->getX()+1,myMaze->getY()); |
salco | 31:ed23647fd16e | 199 | } else { |
salco | 31:ed23647fd16e | 200 | nextCase = myMaze->getC(myMaze->getX()+1,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 201 | } |
salco | 31:ed23647fd16e | 202 | break; |
salco | 31:ed23647fd16e | 203 | |
salco | 31:ed23647fd16e | 204 | case DOWN: |
salco | 31:ed23647fd16e | 205 | nextCase = myMaze->getC(myMaze->getX(),myMaze->getY()-1); |
salco | 31:ed23647fd16e | 206 | break; |
salco | 31:ed23647fd16e | 207 | |
salco | 31:ed23647fd16e | 208 | case LEFT: |
salco | 31:ed23647fd16e | 209 | nextCase = myMaze->getC(myMaze->getX()-1,myMaze->getY()); |
salco | 31:ed23647fd16e | 210 | break; |
salco | 31:ed23647fd16e | 211 | |
salco | 31:ed23647fd16e | 212 | case RIGHT: |
salco | 31:ed23647fd16e | 213 | nextCase = myMaze->getC(myMaze->getX()+1,myMaze->getY()); |
salco | 31:ed23647fd16e | 214 | break; |
salco | 31:ed23647fd16e | 215 | } |
salco | 31:ed23647fd16e | 216 | |
salco | 31:ed23647fd16e | 217 | break; |
salco | 31:ed23647fd16e | 218 | |
salco | 31:ed23647fd16e | 219 | case PAS_EXPLORER: |
salco | 31:ed23647fd16e | 220 | debug(DEBUG_DIRECTIVE_TEST," Javance"); |
salco | 31:ed23647fd16e | 221 | addTableauDeCommande(6); |
salco | 31:ed23647fd16e | 222 | break; |
salco | 28:ac5c6350ed9a | 223 | } |
salco | 31:ed23647fd16e | 224 | |
salco | 31:ed23647fd16e | 225 | #endif |
salco | 31:ed23647fd16e | 226 | #if BACKUP |
salco | 28:ac5c6350ed9a | 227 | /*if((ultrasonicToInch(m_valueCapteurUltrasonic)< 1) && (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80)) //capteur ultrasson embrouiller/imprecis |
salco | 28:ac5c6350ed9a | 228 | { |
salco | 28:ac5c6350ed9a | 229 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Capteur Ultrasson brouiller"); |
salco | 28:ac5c6350ed9a | 230 | addTableauDeCommande(6); |
salco | 31:ed23647fd16e | 231 | } |
salco | 28:ac5c6350ed9a | 232 | else if(ultrasonicToInch(m_valueCapteurUltrasonic) < 10) { //plus proche que 10pouce |
salco | 28:ac5c6350ed9a | 233 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche"); |
salco | 28:ac5c6350ed9a | 234 | if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 10) { |
salco | 28:ac5c6350ed9a | 235 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR"); |
salco | 28:ac5c6350ed9a | 236 | addTableauDeCommande(7); |
salco | 28:ac5c6350ed9a | 237 | |
salco | 19:0ac80045ba4c | 238 | |
salco | 28:ac5c6350ed9a | 239 | //ici potentielle scaning |
salco | 28:ac5c6350ed9a | 240 | } else { |
salco | 28:ac5c6350ed9a | 241 | addTableauDeCommande(4); |
salco | 28:ac5c6350ed9a | 242 | addTableauDeCommande(4); |
salco | 28:ac5c6350ed9a | 243 | addTableauDeCommande(4); |
salco | 28:ac5c6350ed9a | 244 | } |
salco | 28:ac5c6350ed9a | 245 | } else { |
salco | 28:ac5c6350ed9a | 246 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Nothing:"); |
salco | 28:ac5c6350ed9a | 247 | addTableauDeCommande(6); |
salco | 31:ed23647fd16e | 248 | |
salco | 31:ed23647fd16e | 249 | |
salco | 28:ac5c6350ed9a | 250 | int randomNbr = rand() % 4; |
salco | 28:ac5c6350ed9a | 251 | switch(randomNbr) |
salco | 28:ac5c6350ed9a | 252 | { |
salco | 28:ac5c6350ed9a | 253 | case 1: |
salco | 28:ac5c6350ed9a | 254 | debug(DEBUG_DIRECTIVE_TEST," Javance"); |
salco | 28:ac5c6350ed9a | 255 | addTableauDeCommande(6); |
salco | 28:ac5c6350ed9a | 256 | break; |
salco | 28:ac5c6350ed9a | 257 | case 2: |
salco | 28:ac5c6350ed9a | 258 | debug(DEBUG_DIRECTIVE_TEST," Je tourne a gauche"); |
salco | 28:ac5c6350ed9a | 259 | addTableauDeCommande(4); |
salco | 28:ac5c6350ed9a | 260 | break; |
salco | 28:ac5c6350ed9a | 261 | case 3: |
salco | 28:ac5c6350ed9a | 262 | debug(DEBUG_DIRECTIVE_TEST," Je tourne a droite"); |
salco | 28:ac5c6350ed9a | 263 | addTableauDeCommande(5); |
salco | 28:ac5c6350ed9a | 264 | break; |
salco | 28:ac5c6350ed9a | 265 | default: |
salco | 28:ac5c6350ed9a | 266 | debug(DEBUG_DIRECTIVE_TEST," Jattend"); |
salco | 28:ac5c6350ed9a | 267 | break; |
salco | 28:ac5c6350ed9a | 268 | } |
salco | 31:ed23647fd16e | 269 | |
salco | 31:ed23647fd16e | 270 | |
salco | 28:ac5c6350ed9a | 271 | //addTableauDeCommande(6); |
salco | 28:ac5c6350ed9a | 272 | }*/ |
salco | 31:ed23647fd16e | 273 | #endif |
salco | 28:ac5c6350ed9a | 274 | /////////////// |
salco | 28:ac5c6350ed9a | 275 | // Mouvement // |
salco | 28:ac5c6350ed9a | 276 | /////////////// |
salco | 28:ac5c6350ed9a | 277 | } else { |
salco | 28:ac5c6350ed9a | 278 | switch(tableauDeCommange[0]) { |
salco | 28:ac5c6350ed9a | 279 | case 11: |
salco | 28:ac5c6350ed9a | 280 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_calibre"); |
salco | 28:ac5c6350ed9a | 281 | ctrDesPattes->calibre(); |
salco | 28:ac5c6350ed9a | 282 | break; |
salco | 28:ac5c6350ed9a | 283 | case 2: |
salco | 28:ac5c6350ed9a | 284 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveUp"); |
salco | 28:ac5c6350ed9a | 285 | ctrDesPattes->moveUp(); |
salco | 28:ac5c6350ed9a | 286 | break; |
salco | 28:ac5c6350ed9a | 287 | case 3: |
salco | 28:ac5c6350ed9a | 288 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveDown"); |
salco | 28:ac5c6350ed9a | 289 | ctrDesPattes->moveDown(); |
salco | 28:ac5c6350ed9a | 290 | break; |
salco | 28:ac5c6350ed9a | 291 | case 4: |
salco | 28:ac5c6350ed9a | 292 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_turnLeft"); |
salco | 28:ac5c6350ed9a | 293 | ctrDesPattes->turnLeft(); |
salco | 28:ac5c6350ed9a | 294 | break; |
salco | 28:ac5c6350ed9a | 295 | case 5: |
salco | 28:ac5c6350ed9a | 296 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_trunRight"); |
salco | 28:ac5c6350ed9a | 297 | ctrDesPattes->trunRight(); |
salco | 28:ac5c6350ed9a | 298 | break; |
salco | 28:ac5c6350ed9a | 299 | case 6: |
salco | 28:ac5c6350ed9a | 300 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveFront"); |
salco | 28:ac5c6350ed9a | 301 | ctrDesPattes->moveFront(); |
salco | 28:ac5c6350ed9a | 302 | break; |
salco | 28:ac5c6350ed9a | 303 | case 7: |
salco | 28:ac5c6350ed9a | 304 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveBack"); |
salco | 28:ac5c6350ed9a | 305 | ctrDesPattes->moveBack(); |
salco | 28:ac5c6350ed9a | 306 | break; |
salco | 28:ac5c6350ed9a | 307 | /*case 8: |
salco | 28:ac5c6350ed9a | 308 | ctrDesPattes->moveBack(); |
salco | 28:ac5c6350ed9a | 309 | break;*/ |
salco | 28:ac5c6350ed9a | 310 | case 0x81: |
salco | 28:ac5c6350ed9a | 311 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 1"); |
salco | 28:ac5c6350ed9a | 312 | ctrDesPattes->repositioner(1); |
salco | 28:ac5c6350ed9a | 313 | break; |
salco | 28:ac5c6350ed9a | 314 | case 0x82: |
salco | 28:ac5c6350ed9a | 315 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 2"); |
salco | 28:ac5c6350ed9a | 316 | ctrDesPattes->repositioner(2); |
salco | 28:ac5c6350ed9a | 317 | break; |
salco | 28:ac5c6350ed9a | 318 | case 0x83: |
salco | 28:ac5c6350ed9a | 319 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 3"); |
salco | 28:ac5c6350ed9a | 320 | ctrDesPattes->repositioner(3); |
salco | 28:ac5c6350ed9a | 321 | break; |
salco | 28:ac5c6350ed9a | 322 | case 0x84: |
salco | 28:ac5c6350ed9a | 323 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 4"); |
salco | 28:ac5c6350ed9a | 324 | ctrDesPattes->repositioner(4); |
salco | 28:ac5c6350ed9a | 325 | break; |
salco | 28:ac5c6350ed9a | 326 | case 0x85: |
salco | 28:ac5c6350ed9a | 327 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 5"); |
salco | 28:ac5c6350ed9a | 328 | ctrDesPattes->repositioner(5); |
salco | 28:ac5c6350ed9a | 329 | break; |
salco | 28:ac5c6350ed9a | 330 | case 0x86: |
salco | 28:ac5c6350ed9a | 331 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 6"); |
salco | 28:ac5c6350ed9a | 332 | ctrDesPattes->repositioner(6); |
salco | 28:ac5c6350ed9a | 333 | break; |
salco | 28:ac5c6350ed9a | 334 | case 0x87: |
salco | 28:ac5c6350ed9a | 335 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 7"); |
salco | 28:ac5c6350ed9a | 336 | ctrDesPattes->repositioner(7); |
salco | 28:ac5c6350ed9a | 337 | break; |
salco | 28:ac5c6350ed9a | 338 | case 0x88: |
salco | 28:ac5c6350ed9a | 339 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 8"); |
salco | 28:ac5c6350ed9a | 340 | ctrDesPattes->repositioner(8); |
salco | 28:ac5c6350ed9a | 341 | break; |
salco | 28:ac5c6350ed9a | 342 | } |
salco | 28:ac5c6350ed9a | 343 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -TAB:"); |
salco | 28:ac5c6350ed9a | 344 | for(int i =0; i<10; i++) debug(DEBUG_DIRECTIVE_TEST,"[%02x]",tableauDeCommange[i]); |
salco | 28:ac5c6350ed9a | 345 | for(int i =0; i<9; i++)tableauDeCommange[i]= tableauDeCommange[i+1]; |
salco | 28:ac5c6350ed9a | 346 | tableauDeCommange[9]=0; |
salco | 28:ac5c6350ed9a | 347 | if(size_tableauDeCommange != 0) size_tableauDeCommange--; |
salco | 28:ac5c6350ed9a | 348 | } |
salco | 28:ac5c6350ed9a | 349 | } else { |
salco | 28:ac5c6350ed9a | 350 | ctrDesPattes->exec(); |
salco | 28:ac5c6350ed9a | 351 | } |
salco | 28:ac5c6350ed9a | 352 | //////////////////// |
salco | 28:ac5c6350ed9a | 353 | // Update memoire // |
salco | 28:ac5c6350ed9a | 354 | //////////////////// |
salco | 28:ac5c6350ed9a | 355 | |
salco | 28:ac5c6350ed9a | 356 | //////////// |
salco | 28:ac5c6350ed9a | 357 | // Autre? // |
salco | 28:ac5c6350ed9a | 358 | //////////// |
salco | 28:ac5c6350ed9a | 359 | |
salco | 28:ac5c6350ed9a | 360 | |
salco | 28:ac5c6350ed9a | 361 | //debug(DEBUG_DIRECTIVE_TEST,"\n\rOut task directive"); |
salco | 28:ac5c6350ed9a | 362 | } |
salco | 28:ac5c6350ed9a | 363 | double Directive::IRToCm (double miliVolt) |
salco | 28:ac5c6350ed9a | 364 | { |
salco | 28:ac5c6350ed9a | 365 | double result=0; |
salco | 28:ac5c6350ed9a | 366 | |
salco | 28:ac5c6350ed9a | 367 | if(miliVolt < tabIR[0][1])result = tabIR[0][0]; |
salco | 28:ac5c6350ed9a | 368 | else if(miliVolt > tabIR[11][1])result = tabIR[11][0]; |
salco | 28:ac5c6350ed9a | 369 | |
salco | 28:ac5c6350ed9a | 370 | for(int i =1; (result==0)&&(i<12); i++) { |
salco | 28:ac5c6350ed9a | 371 | if((tabIR[i-1][1]<=miliVolt) && (tabIR[i][1]>miliVolt)) { |
salco | 28:ac5c6350ed9a | 372 | 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 | 373 | } |
salco | 28:ac5c6350ed9a | 374 | } |
salco | 28:ac5c6350ed9a | 375 | return result; |
salco | 28:ac5c6350ed9a | 376 | } |
salco | 28:ac5c6350ed9a | 377 | void Directive::addTableauDeCommande(unsigned char value) |
salco | 28:ac5c6350ed9a | 378 | { |
salco | 28:ac5c6350ed9a | 379 | if(size_tableauDeCommange!=10) { |
salco | 28:ac5c6350ed9a | 380 | tableauDeCommange[size_tableauDeCommange]=value; |
salco | 28:ac5c6350ed9a | 381 | size_tableauDeCommange++; |
salco | 28:ac5c6350ed9a | 382 | |
salco | 28:ac5c6350ed9a | 383 | } |
salco | 28:ac5c6350ed9a | 384 | } |
salco | 28:ac5c6350ed9a | 385 | |
salco | 28:ac5c6350ed9a | 386 | void Directive::updateModuleValue(void) |
salco | 28:ac5c6350ed9a | 387 | { |
salco | 28:ac5c6350ed9a | 388 | string flag,data; |
salco | 28:ac5c6350ed9a | 389 | flag.clear(); |
salco | 28:ac5c6350ed9a | 390 | data.clear(); |
salco | 28:ac5c6350ed9a | 391 | flag.append(1,7); |
salco | 28:ac5c6350ed9a | 392 | if(m_CtrlBridge->send(m_capteurUltrasonic[0],flag,data)) |
salco | 28:ac5c6350ed9a | 393 | m_valueCapteurUltrasonic = data[0]; |
salco | 28:ac5c6350ed9a | 394 | |
salco | 28:ac5c6350ed9a | 395 | |
salco | 28:ac5c6350ed9a | 396 | flag.clear(); |
salco | 28:ac5c6350ed9a | 397 | data.clear(); |
salco | 28:ac5c6350ed9a | 398 | flag.append(1,7); |
salco | 28:ac5c6350ed9a | 399 | if(m_CtrlBridge->send(m_capteurIR[0],flag,data)) { |
salco | 28:ac5c6350ed9a | 400 | if(data.size() == 2) { |
salco | 28:ac5c6350ed9a | 401 | m_valueCapteurIR = data[0]; |
salco | 28:ac5c6350ed9a | 402 | m_valueCapteurIR = (m_valueCapteurIR<<8) + data[1]; |
salco | 28:ac5c6350ed9a | 403 | } else |
salco | 28:ac5c6350ed9a | 404 | m_valueCapteurIR = data[0]; |
salco | 28:ac5c6350ed9a | 405 | } |
salco | 28:ac5c6350ed9a | 406 | |
salco | 28:ac5c6350ed9a | 407 | flag.clear(); |
salco | 28:ac5c6350ed9a | 408 | data.clear(); |
salco | 28:ac5c6350ed9a | 409 | flag.append(1,7); |
salco | 28:ac5c6350ed9a | 410 | if(m_CtrlBridge->send(m_capteurProximiter[0],flag,data)) |
salco | 28:ac5c6350ed9a | 411 | m_valueCapteurProximiter = data[0]; |
salco | 28:ac5c6350ed9a | 412 | } |
salco | 28:ac5c6350ed9a | 413 | |
salco | 28:ac5c6350ed9a | 414 | void Directive::analiseMaze(void) |
salco | 28:ac5c6350ed9a | 415 | { |
salco | 28:ac5c6350ed9a | 416 | char areaLatt =0; |
salco | 28:ac5c6350ed9a | 417 | char areaVert =0; |
salco | 28:ac5c6350ed9a | 418 | string mymap = myMaze->showMap(); |
salco | 28:ac5c6350ed9a | 419 | debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r Labyrinthe map: X:%02x Y:%02x \n\r",myMaze->getX(),myMaze->getY()); |
salco | 31:ed23647fd16e | 420 | for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i]); |
salco | 28:ac5c6350ed9a | 421 | debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r"); |
salco | 31:ed23647fd16e | 422 | for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+3]); |
salco | 28:ac5c6350ed9a | 423 | debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r"); |
salco | 31:ed23647fd16e | 424 | for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+6]); |
salco | 28:ac5c6350ed9a | 425 | debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r"); |
salco | 31:ed23647fd16e | 426 | |
salco | 31:ed23647fd16e | 427 | |
salco | 31:ed23647fd16e | 428 | |
salco | 31:ed23647fd16e | 429 | if((ultrasonicToInch(m_valueCapteurUltrasonic)< 1) && (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80)) { //capteur ultrasson embrouiller/imprecis |
salco | 31:ed23647fd16e | 430 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Capteur Ultrasson brouiller"); |
salco | 31:ed23647fd16e | 431 | //addTableauDeCommande(6); |
salco | 31:ed23647fd16e | 432 | } else if(ultrasonicToInch(m_valueCapteurUltrasonic) >=24) { //plus proche que 10pouce |
salco | 31:ed23647fd16e | 433 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche 2pi"); |
salco | 31:ed23647fd16e | 434 | areaLatt =2; |
salco | 31:ed23647fd16e | 435 | areaVert =2; |
salco | 31:ed23647fd16e | 436 | } else if(ultrasonicToInch(m_valueCapteurUltrasonic) >=12) { //plus proche que 10pouce |
salco | 31:ed23647fd16e | 437 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche 2pi"); |
salco | 31:ed23647fd16e | 438 | areaLatt =1; |
salco | 31:ed23647fd16e | 439 | areaVert =1; |
salco | 31:ed23647fd16e | 440 | } |
salco | 31:ed23647fd16e | 441 | if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 60) { |
salco | 31:ed23647fd16e | 442 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR"); |
salco | 31:ed23647fd16e | 443 | areaVert =2; |
salco | 31:ed23647fd16e | 444 | } else if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 30) { |
salco | 31:ed23647fd16e | 445 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR"); |
salco | 31:ed23647fd16e | 446 | areaVert =1; |
salco | 31:ed23647fd16e | 447 | } |
salco | 31:ed23647fd16e | 448 | |
salco | 31:ed23647fd16e | 449 | |
salco | 31:ed23647fd16e | 450 | switch(myMaze->getDirection()) { |
salco | 28:ac5c6350ed9a | 451 | case UP: |
salco | 31:ed23647fd16e | 452 | switch(areaVert) { |
salco | 31:ed23647fd16e | 453 | case 0: |
salco | 31:ed23647fd16e | 454 | myMaze->setC_Up(MUR); |
salco | 31:ed23647fd16e | 455 | break; |
salco | 31:ed23647fd16e | 456 | |
salco | 31:ed23647fd16e | 457 | case 1: |
salco | 31:ed23647fd16e | 458 | if(areaLatt == 0) { |
salco | 31:ed23647fd16e | 459 | myMaze->setC_Up(MUR); |
salco | 31:ed23647fd16e | 460 | } else if(areaLatt == 1) { |
salco | 31:ed23647fd16e | 461 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 462 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()+1); |
salco | 31:ed23647fd16e | 463 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 464 | |
salco | 31:ed23647fd16e | 465 | myMaze->setC(MUR,myMaze->getX(),myMaze->getY()+2); |
salco | 31:ed23647fd16e | 466 | } else if(areaLatt == 2) { |
salco | 31:ed23647fd16e | 467 | |
salco | 31:ed23647fd16e | 468 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 469 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()+1); |
salco | 31:ed23647fd16e | 470 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 471 | |
salco | 31:ed23647fd16e | 472 | myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()+2); |
salco | 31:ed23647fd16e | 473 | myMaze->setC(MUR,myMaze->getX(),myMaze->getY()+2); |
salco | 31:ed23647fd16e | 474 | myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()+2); |
salco | 31:ed23647fd16e | 475 | } |
salco | 31:ed23647fd16e | 476 | break; |
salco | 31:ed23647fd16e | 477 | |
salco | 31:ed23647fd16e | 478 | case 2: |
salco | 31:ed23647fd16e | 479 | if(areaLatt == 0) { |
salco | 31:ed23647fd16e | 480 | myMaze->setC_Up(MUR); |
salco | 31:ed23647fd16e | 481 | } else if(areaLatt == 1) { |
salco | 31:ed23647fd16e | 482 | myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()+1);//mur? |
salco | 31:ed23647fd16e | 483 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()+1); |
salco | 31:ed23647fd16e | 484 | myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()+1);//mur? |
salco | 31:ed23647fd16e | 485 | |
salco | 31:ed23647fd16e | 486 | //myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()+1);//mur? |
salco | 31:ed23647fd16e | 487 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()+2); |
salco | 31:ed23647fd16e | 488 | //myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()+1);//mur? |
salco | 31:ed23647fd16e | 489 | } else if(areaLatt == 2) { |
salco | 31:ed23647fd16e | 490 | |
salco | 31:ed23647fd16e | 491 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 492 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()+1); |
salco | 31:ed23647fd16e | 493 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 494 | |
salco | 31:ed23647fd16e | 495 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()+2); |
salco | 31:ed23647fd16e | 496 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()+2); |
salco | 31:ed23647fd16e | 497 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()+2); |
salco | 31:ed23647fd16e | 498 | } |
salco | 31:ed23647fd16e | 499 | break; |
salco | 28:ac5c6350ed9a | 500 | } |
salco | 31:ed23647fd16e | 501 | |
salco | 28:ac5c6350ed9a | 502 | break; |
salco | 31:ed23647fd16e | 503 | |
salco | 31:ed23647fd16e | 504 | case DOWN: |
salco | 31:ed23647fd16e | 505 | switch(areaVert) { |
salco | 31:ed23647fd16e | 506 | case 0: |
salco | 31:ed23647fd16e | 507 | myMaze->setC_Down(MUR); |
salco | 31:ed23647fd16e | 508 | break; |
salco | 31:ed23647fd16e | 509 | |
salco | 31:ed23647fd16e | 510 | case 1: |
salco | 31:ed23647fd16e | 511 | if(areaLatt == 0) { |
salco | 31:ed23647fd16e | 512 | myMaze->setC_Down(MUR); |
salco | 31:ed23647fd16e | 513 | } else if(areaLatt == 1) { |
salco | 31:ed23647fd16e | 514 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()-1); |
salco | 31:ed23647fd16e | 515 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()-1); |
salco | 31:ed23647fd16e | 516 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()-1); |
salco | 31:ed23647fd16e | 517 | |
salco | 31:ed23647fd16e | 518 | myMaze->setC(MUR,myMaze->getX(),myMaze->getY()-2); |
salco | 31:ed23647fd16e | 519 | } else if(areaLatt == 2) { |
salco | 31:ed23647fd16e | 520 | |
salco | 31:ed23647fd16e | 521 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()-1); |
salco | 31:ed23647fd16e | 522 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()-1); |
salco | 31:ed23647fd16e | 523 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()-1); |
salco | 31:ed23647fd16e | 524 | |
salco | 31:ed23647fd16e | 525 | myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()-2); |
salco | 31:ed23647fd16e | 526 | myMaze->setC(MUR,myMaze->getX(),myMaze->getY()-2); |
salco | 31:ed23647fd16e | 527 | myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()-2); |
salco | 31:ed23647fd16e | 528 | } |
salco | 31:ed23647fd16e | 529 | break; |
salco | 31:ed23647fd16e | 530 | |
salco | 31:ed23647fd16e | 531 | case 2: |
salco | 31:ed23647fd16e | 532 | if(areaLatt == 0) { |
salco | 31:ed23647fd16e | 533 | myMaze->setC_Down(MUR); |
salco | 31:ed23647fd16e | 534 | } else if(areaLatt == 1) { |
salco | 31:ed23647fd16e | 535 | myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()-1);//mur? |
salco | 31:ed23647fd16e | 536 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()-1); |
salco | 31:ed23647fd16e | 537 | myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()-1);//mur? |
salco | 31:ed23647fd16e | 538 | |
salco | 31:ed23647fd16e | 539 | //myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()+1);//mur? |
salco | 31:ed23647fd16e | 540 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()-2); |
salco | 31:ed23647fd16e | 541 | //myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()+1);//mur? |
salco | 31:ed23647fd16e | 542 | } else if(areaLatt == 2) { |
salco | 31:ed23647fd16e | 543 | |
salco | 31:ed23647fd16e | 544 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()-1); |
salco | 31:ed23647fd16e | 545 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()-1); |
salco | 31:ed23647fd16e | 546 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()-1); |
salco | 31:ed23647fd16e | 547 | |
salco | 31:ed23647fd16e | 548 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()-2); |
salco | 31:ed23647fd16e | 549 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()-2); |
salco | 31:ed23647fd16e | 550 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()-2); |
salco | 31:ed23647fd16e | 551 | } |
salco | 31:ed23647fd16e | 552 | break; |
salco | 28:ac5c6350ed9a | 553 | } |
salco | 28:ac5c6350ed9a | 554 | break; |
salco | 31:ed23647fd16e | 555 | |
salco | 31:ed23647fd16e | 556 | case LEFT: |
salco | 31:ed23647fd16e | 557 | switch(areaVert) { |
salco | 31:ed23647fd16e | 558 | case 0: |
salco | 31:ed23647fd16e | 559 | myMaze->setC_Left(MUR); |
salco | 31:ed23647fd16e | 560 | break; |
salco | 31:ed23647fd16e | 561 | |
salco | 31:ed23647fd16e | 562 | case 1: |
salco | 31:ed23647fd16e | 563 | if(areaLatt == 0) { |
salco | 31:ed23647fd16e | 564 | myMaze->setC_Left(MUR); |
salco | 31:ed23647fd16e | 565 | } else if(areaLatt == 1) { |
salco | 31:ed23647fd16e | 566 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()-1); |
salco | 31:ed23647fd16e | 567 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()); |
salco | 31:ed23647fd16e | 568 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 569 | |
salco | 31:ed23647fd16e | 570 | myMaze->setC(MUR,myMaze->getX()-2,myMaze->getY()); |
salco | 31:ed23647fd16e | 571 | } else if(areaLatt == 2) { |
salco | 31:ed23647fd16e | 572 | |
salco | 31:ed23647fd16e | 573 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()-1); |
salco | 31:ed23647fd16e | 574 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()); |
salco | 31:ed23647fd16e | 575 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 576 | |
salco | 31:ed23647fd16e | 577 | myMaze->setC(PAS_EXPLORER,myMaze->getX()-2,myMaze->getY()-1); |
salco | 31:ed23647fd16e | 578 | myMaze->setC(MUR,myMaze->getX()-2,myMaze->getY()); |
salco | 31:ed23647fd16e | 579 | myMaze->setC(PAS_EXPLORER,myMaze->getX()-2,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 580 | } |
salco | 31:ed23647fd16e | 581 | break; |
salco | 31:ed23647fd16e | 582 | |
salco | 31:ed23647fd16e | 583 | case 2: |
salco | 31:ed23647fd16e | 584 | if(areaLatt == 0) { |
salco | 31:ed23647fd16e | 585 | myMaze->setC_Left(MUR); |
salco | 31:ed23647fd16e | 586 | } else if(areaLatt == 1) { |
salco | 31:ed23647fd16e | 587 | myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()-1);//mur? |
salco | 31:ed23647fd16e | 588 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()); |
salco | 31:ed23647fd16e | 589 | myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()+1);//mur? |
salco | 31:ed23647fd16e | 590 | |
salco | 31:ed23647fd16e | 591 | //myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()+1);//mur? |
salco | 31:ed23647fd16e | 592 | myMaze->setC(VIDE,myMaze->getX()-2,myMaze->getY()); |
salco | 31:ed23647fd16e | 593 | //myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()+1);//mur? |
salco | 31:ed23647fd16e | 594 | } else if(areaLatt == 2) { |
salco | 31:ed23647fd16e | 595 | |
salco | 31:ed23647fd16e | 596 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()-1); |
salco | 31:ed23647fd16e | 597 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()); |
salco | 31:ed23647fd16e | 598 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 599 | |
salco | 31:ed23647fd16e | 600 | myMaze->setC(VIDE,myMaze->getX()-2,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 601 | myMaze->setC(VIDE,myMaze->getX()-2,myMaze->getY()); |
salco | 31:ed23647fd16e | 602 | myMaze->setC(VIDE,myMaze->getX()-2,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 603 | } |
salco | 31:ed23647fd16e | 604 | break; |
salco | 28:ac5c6350ed9a | 605 | } |
salco | 28:ac5c6350ed9a | 606 | break; |
salco | 31:ed23647fd16e | 607 | |
salco | 31:ed23647fd16e | 608 | case RIGHT: |
salco | 31:ed23647fd16e | 609 | switch(areaVert) { |
salco | 31:ed23647fd16e | 610 | case 0: |
salco | 31:ed23647fd16e | 611 | myMaze->setC_Right(MUR); |
salco | 31:ed23647fd16e | 612 | break; |
salco | 31:ed23647fd16e | 613 | |
salco | 31:ed23647fd16e | 614 | case 1: |
salco | 31:ed23647fd16e | 615 | if(areaLatt == 0) { |
salco | 31:ed23647fd16e | 616 | myMaze->setC_Right(MUR); |
salco | 31:ed23647fd16e | 617 | } else if(areaLatt == 1) { |
salco | 31:ed23647fd16e | 618 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()-1); |
salco | 31:ed23647fd16e | 619 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()); |
salco | 31:ed23647fd16e | 620 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 621 | |
salco | 31:ed23647fd16e | 622 | myMaze->setC(MUR,myMaze->getX()+2,myMaze->getY()); |
salco | 31:ed23647fd16e | 623 | } else if(areaLatt == 2) { |
salco | 31:ed23647fd16e | 624 | |
salco | 31:ed23647fd16e | 625 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()-1); |
salco | 31:ed23647fd16e | 626 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()); |
salco | 31:ed23647fd16e | 627 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 628 | |
salco | 31:ed23647fd16e | 629 | myMaze->setC(PAS_EXPLORER,myMaze->getX()+2,myMaze->getY()-1); |
salco | 31:ed23647fd16e | 630 | myMaze->setC(MUR,myMaze->getX()+2,myMaze->getY()); |
salco | 31:ed23647fd16e | 631 | myMaze->setC(PAS_EXPLORER,myMaze->getX()+2,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 632 | } |
salco | 31:ed23647fd16e | 633 | break; |
salco | 31:ed23647fd16e | 634 | |
salco | 31:ed23647fd16e | 635 | case 2: |
salco | 31:ed23647fd16e | 636 | if(areaLatt == 0) { |
salco | 31:ed23647fd16e | 637 | myMaze->setC_Right(MUR); |
salco | 31:ed23647fd16e | 638 | } else if(areaLatt == 1) { |
salco | 31:ed23647fd16e | 639 | myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()-1);//mur? |
salco | 31:ed23647fd16e | 640 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()); |
salco | 31:ed23647fd16e | 641 | myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()+1);//mur? |
salco | 31:ed23647fd16e | 642 | |
salco | 31:ed23647fd16e | 643 | //myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()+1);//mur? |
salco | 31:ed23647fd16e | 644 | myMaze->setC(VIDE,myMaze->getX()+2,myMaze->getY()); |
salco | 31:ed23647fd16e | 645 | //myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()+1);//mur? |
salco | 31:ed23647fd16e | 646 | } else if(areaLatt == 2) { |
salco | 31:ed23647fd16e | 647 | |
salco | 31:ed23647fd16e | 648 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()-1); |
salco | 31:ed23647fd16e | 649 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()); |
salco | 31:ed23647fd16e | 650 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 651 | |
salco | 31:ed23647fd16e | 652 | myMaze->setC(VIDE,myMaze->getX()+2,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 653 | myMaze->setC(VIDE,myMaze->getX()+2,myMaze->getY()); |
salco | 31:ed23647fd16e | 654 | myMaze->setC(VIDE,myMaze->getX()+2,myMaze->getY()+1); |
salco | 31:ed23647fd16e | 655 | } |
salco | 31:ed23647fd16e | 656 | break; |
salco | 31:ed23647fd16e | 657 | } |
salco | 28:ac5c6350ed9a | 658 | break; |
salco | 31:ed23647fd16e | 659 | } |
salco | 2:4c5b0f6d0a6b | 660 | } |