Alexandre Salconi-Denis / Mbed 2 deprecated ProjetOctopode

Programme de contrôle de l'octopode 4DOF, Theraphosa-Salconi.

Dependencies:   debug mbed

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@37:f53e9f7a14df, 2015-09-29 (annotated)

Committer:
salco
Date:
Tue Sep 29 17:23:25 2015 +0000
Revision:
37:f53e9f7a14df
Parent:
36:474d4795aafa
Child:
38:57d5f36a0333
modification de la fonction analiseMaze();

Who changed what in which revision?

UserRevisionLine numberNew contents of line
salco 2:4c5b0f6d0a6b 1
salco 2:4c5b0f6d0a6b 2 #include "directive.h"
salco 36:474d4795aafa 3
salco 31:ed23647fd16e 4 Serial pc(SERIAL_TX, SERIAL_RX);
salco 28:ac5c6350ed9a 5 int tabIR[12][2]= {
salco 28:ac5c6350ed9a 6 {80, 400},{50, 600},{40, 700},{30, 900},{25,1100},
salco 28:ac5c6350ed9a 7 {20,1300},{15,1600},{10,2400},{ 8,2700},{ 7,3000},
salco 28:ac5c6350ed9a 8 { 6,3200},{ 5,3100}
salco 28:ac5c6350ed9a 9 };
salco 28:ac5c6350ed9a 10
salco 28:ac5c6350ed9a 11
salco 28:ac5c6350ed9a 12
salco 28:ac5c6350ed9a 13
salco 28:ac5c6350ed9a 14
salco 2:4c5b0f6d0a6b 15
salco 2:4c5b0f6d0a6b 16 Directive::Directive():TTask(0)//on veux que cette tache sois exec toute les fois que TTaskGen sexecute.
salco 2:4c5b0f6d0a6b 17 {
salco 28:ac5c6350ed9a 18 /* initialize random seed: */
salco 31:ed23647fd16e 19 srand (time(NULL));
salco 33:c8b4e5a392e6 20 myMaze = new Labyrinthe();
salco 33:c8b4e5a392e6 21
salco 28:ac5c6350ed9a 22 myMaze->setDirection(UP);
salco 28:ac5c6350ed9a 23 //c=0;
salco 35:d81f6b927932 24 ssc32 = new Serial(PB_6, PB_7);
salco 27:ea60d12dccdf 25 ctrDesPattes = new Faculter_motrice(ssc32/*pc*/);
salco 28:ac5c6350ed9a 26 m_valueCapteurUltrasonic = 0;
salco 28:ac5c6350ed9a 27 m_valueCapteurIR = 0;
salco 28:ac5c6350ed9a 28 m_valueCapteurProximiter = 0;
salco 28:ac5c6350ed9a 29 for(int i =0; i<10; i++)tableauDeCommange[i]= 0;
salco 28:ac5c6350ed9a 30 size_tableauDeCommange=0;
salco 36:474d4795aafa 31 debug("\n\r set explorer \n\r");
salco 36:474d4795aafa 32 myMaze->setMyPos(Labyrinthe::explorer);
salco 35:d81f6b927932 33 //myMaze->setC(EXPLORER,C5);
salco 19:0ac80045ba4c 34 //m_CtrlBridge = m_CtrlBridge->getInstance();
salco 19:0ac80045ba4c 35 //a enlever de commentaire//m_ListDesModules = m_CtrlBridge->findModule(0,1,0,0);
salco 27:ea60d12dccdf 36
salco 27:ea60d12dccdf 37 //Serial pc(USBTX, USBRX);
salco 27:ea60d12dccdf 38
salco 27:ea60d12dccdf 39 //ssc32->set_flow_control(0);
salco 31:ed23647fd16e 40
salco 35:d81f6b927932 41
salco 35:d81f6b927932 42 //debug("\n\r directive Init");
salco 27:ea60d12dccdf 43 m_ListDesModules = m_CtrlBridge->findModule(0,CAPTEUR,DISTANCE,0);
salco 27:ea60d12dccdf 44 m_ListDesModules.append(m_CtrlBridge->findModule(0,CAPTEUR,PROXIMITEE,0));
salco 28:ac5c6350ed9a 45
salco 27:ea60d12dccdf 46 m_capteurUltrasonic= m_CtrlBridge->findModule(0,CAPTEUR,ULTRASONIQUE,0x27/*0b100111*/);
salco 35:d81f6b927932 47 if(!(m_capteurUltrasonic.empty())) debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurUltrasonic found");
salco 35:d81f6b927932 48 else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurUltrasonic not found");
salco 27:ea60d12dccdf 49 m_capteurIR= m_CtrlBridge->findModule(0,CAPTEUR,DISTANCE,0x27/*0b100111*/);
salco 35:d81f6b927932 50 if(!(m_capteurIR.empty())) debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurIR found");
salco 34:dfd82c744b26 51 else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurIR not found");
salco 27:ea60d12dccdf 52 m_capteurProximiter= m_CtrlBridge->findModule(0,CAPTEUR,PROXIMITEE,0x0E/*0b001110*/);
salco 36:474d4795aafa 53 if(!(m_capteurProximiter.empty()))debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurProximiter found\n\r");
salco 36:474d4795aafa 54 else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurProximiter not found\n\r");
salco 28:ac5c6350ed9a 55
salco 28:ac5c6350ed9a 56 ctrDesPattes->moveUp();
salco 28:ac5c6350ed9a 57
salco 28:ac5c6350ed9a 58 bool getUp=true;
salco 28:ac5c6350ed9a 59 while((getUp)&& (! ctrDesPattes->isSeqComplet())) {
salco 28:ac5c6350ed9a 60 ctrDesPattes->exec();
salco 28:ac5c6350ed9a 61
salco 28:ac5c6350ed9a 62 if(ctrDesPattes->get_idFrame() >= 5)
salco 28:ac5c6350ed9a 63 getUp = false;
salco 28:ac5c6350ed9a 64
salco 28:ac5c6350ed9a 65 }
salco 31:ed23647fd16e 66
salco 28:ac5c6350ed9a 67 ctrDesPattes->calibre();
salco 31:ed23647fd16e 68
salco 35:d81f6b927932 69 #ifdef DEBUG_DIRECTIVE_GRAPHICAL_INTERFACE
salco 35:d81f6b927932 70 analiseMaze();
salco 31:ed23647fd16e 71 wait(2);
salco 31:ed23647fd16e 72 debug("\x1B[2J"); //clear screen
salco 35:d81f6b927932 73 /*debug("\x1B[25l");//hide cursor
salco 35:d81f6b927932 74 debug("\x1B[;H");*/ //cursor default position
salco 31:ed23647fd16e 75
salco 35:d81f6b927932 76 //createSLbox(0,0,5,15,"Mode");
salco 35:d81f6b927932 77 /*createDLbox(0,0,10,20,"Menu");//(1,12,10,20,"test2");
salco 31:ed23647fd16e 78 setText(1,3,"1) BrainControle");
salco 35:d81f6b927932 79 setText(1,4,"2) Show Maze");*/
salco 31:ed23647fd16e 80 //createDLbox(16,0,5,15,"Stage");
salco 31:ed23647fd16e 81
salco 35:d81f6b927932 82
salco 31:ed23647fd16e 83 #endif
salco 2:4c5b0f6d0a6b 84 }
salco 2:4c5b0f6d0a6b 85 Directive::~Directive()
salco 2:4c5b0f6d0a6b 86 {
salco 11:496453b45e25 87
salco 3:e0d6e081a9d3 88 if(ctrDesPattes)
salco 3:e0d6e081a9d3 89 delete ctrDesPattes;
salco 19:0ac80045ba4c 90 if(ssc32)
salco 19:0ac80045ba4c 91 delete ssc32;
salco 31:ed23647fd16e 92 if(myMaze)
salco 28:ac5c6350ed9a 93 delete myMaze;
salco 2:4c5b0f6d0a6b 94 }
salco 3:e0d6e081a9d3 95 void Directive::task(void)//ALL CODE HERE//
salco 2:4c5b0f6d0a6b 96 {
salco 31:ed23647fd16e 97
salco 31:ed23647fd16e 98 #ifdef DEBUG_BOOT_GRAPHICAL_INTERFACE
salco 37:f53e9f7a14df 99 debug("\x1B[2J"); //clear screen
salco 37:f53e9f7a14df 100 debug("\x1B[25l");//hide cursor
salco 37:f53e9f7a14df 101 debug("\x1B[;H"); //cursor default position
salco 37:f53e9f7a14df 102 /*
salco 37:f53e9f7a14df 103 createDLbox(0,0,10,25,"BrainControle");
salco 37:f53e9f7a14df 104 setText(1,3,"1) Move Up");
salco 37:f53e9f7a14df 105 setText(1,4,"2) Move Down");
salco 37:f53e9f7a14df 106 setText(1,5,"3) Move Left");
salco 37:f53e9f7a14df 107 setText(1,6,"4) Move Right");
salco 37:f53e9f7a14df 108
salco 37:f53e9f7a14df 109 int idCommand;
salco 37:f53e9f7a14df 110 do{
salco 37:f53e9f7a14df 111 if(pc.readable()){
salco 37:f53e9f7a14df 112 idCommand = fgetc(pc) - '0';
salco 37:f53e9f7a14df 113 switch(idCommand)
salco 37:f53e9f7a14df 114 {
salco 37:f53e9f7a14df 115 case 1:
salco 37:f53e9f7a14df 116 myMaze->goUp();
salco 37:f53e9f7a14df 117 break;
salco 37:f53e9f7a14df 118 case 2:
salco 37:f53e9f7a14df 119 myMaze->goDown();
salco 37:f53e9f7a14df 120 break;
salco 37:f53e9f7a14df 121 case 3:
salco 37:f53e9f7a14df 122 myMaze->goLeft();
salco 37:f53e9f7a14df 123 break;
salco 37:f53e9f7a14df 124 case 4:
salco 37:f53e9f7a14df 125 myMaze->goRight();
salco 37:f53e9f7a14df 126 break;
salco 37:f53e9f7a14df 127 }
salco 37:f53e9f7a14df 128 myMaze->setMyPos(Labyrinthe::explorer);
salco 37:f53e9f7a14df 129
salco 37:f53e9f7a14df 130 string mymap = myMaze->showMap();
salco 37:f53e9f7a14df 131 debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r Labyrinthe map: X:%02x Y:%02x \n\r",myMaze->getX(),myMaze->getY());
salco 37:f53e9f7a14df 132 for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+6]);
salco 37:f53e9f7a14df 133 debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
salco 37:f53e9f7a14df 134 for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+3]);
salco 37:f53e9f7a14df 135 debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
salco 37:f53e9f7a14df 136 for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i]);
salco 37:f53e9f7a14df 137 debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
salco 37:f53e9f7a14df 138
salco 37:f53e9f7a14df 139 #ifdef DBG_MAIN_DELAY_SEC
salco 37:f53e9f7a14df 140 debug("\n\r\n wait \n\r\n");
salco 37:f53e9f7a14df 141 wait(DBG_MAIN_DELAY_SEC);
salco 37:f53e9f7a14df 142 #endif
salco 37:f53e9f7a14df 143
salco 37:f53e9f7a14df 144 debug("\x1B[2J"); //clear screen
salco 37:f53e9f7a14df 145 debug("\x1B[;H"); //cursor default position
salco 37:f53e9f7a14df 146 createDLbox(0,0,10,25,"BrainControle");
salco 37:f53e9f7a14df 147 setText(1,3,"1) Move Up");
salco 37:f53e9f7a14df 148 setText(1,4,"2) Move Down");
salco 37:f53e9f7a14df 149 setText(1,5,"3) Move Left");
salco 37:f53e9f7a14df 150 setText(1,6,"4) Move Right");
salco 37:f53e9f7a14df 151 }
salco 37:f53e9f7a14df 152 }while(1); */
salco 31:ed23647fd16e 153 #endif
salco 36:474d4795aafa 154
salco 28:ac5c6350ed9a 155 //debug(DEBUG_DIRECTIVE_TEST,"\n\rIn task directive");
salco 37:f53e9f7a14df 156 #ifndef DEBUG_DIRECTIVE_LEG_DISABLE
salco 28:ac5c6350ed9a 157 if(ctrDesPattes->isSeqComplet()) {
salco 37:f53e9f7a14df 158
salco 28:ac5c6350ed9a 159 if((tableauDeCommange[0] == 6) && (size_tableauDeCommange == 1)) {
salco 28:ac5c6350ed9a 160 //addTableauDeCommande(0x81);
salco 28:ac5c6350ed9a 161 //addTableauDeCommande(0x82);
salco 28:ac5c6350ed9a 162 //mabey//addTableauDeCommande(0x83);
salco 28:ac5c6350ed9a 163 addTableauDeCommande(0x84);
salco 28:ac5c6350ed9a 164
salco 28:ac5c6350ed9a 165 //addTableauDeCommande(0x85);
salco 28:ac5c6350ed9a 166 //mabey//addTableauDeCommande(0x86);
salco 28:ac5c6350ed9a 167 addTableauDeCommande(0x87);
salco 28:ac5c6350ed9a 168 addTableauDeCommande(0x88);
salco 28:ac5c6350ed9a 169 }
salco 37:f53e9f7a14df 170
salco 37:f53e9f7a14df 171
salco 28:ac5c6350ed9a 172 if(tableauDeCommange[0] == 0) {
salco 28:ac5c6350ed9a 173 //pas sur que c'Est tout ce qui doit etre ici mais je vois pas quoi d'autre pour le moment.
salco 28:ac5c6350ed9a 174
salco 28:ac5c6350ed9a 175 ////////////////
salco 28:ac5c6350ed9a 176 // Inspection //
salco 28:ac5c6350ed9a 177 ////////////////
salco 28:ac5c6350ed9a 178 //flag.append(1,0);//0x02);
salco 28:ac5c6350ed9a 179 /*for(int i=0; i<m_ListDesModules.length(); ++i) {
salco 28:ac5c6350ed9a 180 wait_us(300);
salco 28:ac5c6350ed9a 181 flag.clear();
salco 28:ac5c6350ed9a 182 flag.append(1,7);
salco 28:ac5c6350ed9a 183 data.clear();
salco 28:ac5c6350ed9a 184 debug("\n\r result: %d",m_CtrlBridge->send(m_ListDesModules.at(i),flag,data));
salco 28:ac5c6350ed9a 185
salco 28:ac5c6350ed9a 186 debug("\n\r flag: %d",flag[0]);
salco 28:ac5c6350ed9a 187 debug("\n\r data: %x",data[0]);
salco 28:ac5c6350ed9a 188 }*/
salco 37:f53e9f7a14df 189
salco 28:ac5c6350ed9a 190 updateModuleValue();
salco 28:ac5c6350ed9a 191
salco 28:ac5c6350ed9a 192 //////////////////////////////
salco 28:ac5c6350ed9a 193 // Traitement du Labyrinthe //
salco 28:ac5c6350ed9a 194 //////////////////////////////
salco 28:ac5c6350ed9a 195 debug(DEBUG_DIRECTIVE_TEST,"\n\r -IRToCm(%02f): %02f",ADCTomv(m_valueCapteurIR),IRToCm(ADCTomv(m_valueCapteurIR)));
salco 28:ac5c6350ed9a 196 debug(DEBUG_DIRECTIVE_TEST,"\n\r -ultrasonicToInch: %02f",ultrasonicToInch(m_valueCapteurUltrasonic));
salco 28:ac5c6350ed9a 197 debug(DEBUG_DIRECTIVE_TEST,"\n\r -m_valueCapteurProximiter: %02d",m_valueCapteurProximiter);
salco 37:f53e9f7a14df 198 #endif //DEBUG_DIRECTIVE_LEG_DISABLE
salco 28:ac5c6350ed9a 199 analiseMaze();
salco 28:ac5c6350ed9a 200 char nextCase=0;
salco 31:ed23647fd16e 201 switch(myMaze->getDirection()) {
salco 31:ed23647fd16e 202 case UP:
salco 31:ed23647fd16e 203 nextCase = myMaze->getC(myMaze->getX(),myMaze->getY()+1);
salco 31:ed23647fd16e 204 break;
salco 31:ed23647fd16e 205
salco 31:ed23647fd16e 206 case DOWN:
salco 31:ed23647fd16e 207 nextCase = myMaze->getC(myMaze->getX(),myMaze->getY()-1);
salco 31:ed23647fd16e 208 break;
salco 31:ed23647fd16e 209
salco 31:ed23647fd16e 210 case LEFT:
salco 31:ed23647fd16e 211 nextCase = myMaze->getC(myMaze->getX()-1,myMaze->getY());
salco 31:ed23647fd16e 212 break;
salco 31:ed23647fd16e 213
salco 31:ed23647fd16e 214 case RIGHT:
salco 31:ed23647fd16e 215 nextCase = myMaze->getC(myMaze->getX()+1,myMaze->getY());
salco 31:ed23647fd16e 216 break;
salco 28:ac5c6350ed9a 217 }
salco 31:ed23647fd16e 218
salco 31:ed23647fd16e 219 switch(nextCase ) {
salco 37:f53e9f7a14df 220 case Labyrinthe::vide :
salco 37:f53e9f7a14df 221 #ifdef DEBUG_DIRECTIVE_LEG_DISABLE
salco 37:f53e9f7a14df 222 debug("nextCase Vide\n\r");
salco 37:f53e9f7a14df 223 #endif
salco 31:ed23647fd16e 224 debug(DEBUG_DIRECTIVE_TEST," Javance");
salco 37:f53e9f7a14df 225 #ifndef DEBUG_DIRECTIVE_LEG_DISABLE
salco 28:ac5c6350ed9a 226 addTableauDeCommande(6);
salco 37:f53e9f7a14df 227 #endif
salco 31:ed23647fd16e 228 break;
salco 31:ed23647fd16e 229
salco 37:f53e9f7a14df 230 case Labyrinthe::explorer :// ici pt amiliorer
salco 31:ed23647fd16e 231 debug(DEBUG_DIRECTIVE_TEST," Javance");
salco 37:f53e9f7a14df 232 #ifndef DEBUG_DIRECTIVE_LEG_DISABLE
salco 28:ac5c6350ed9a 233 addTableauDeCommande(6);
salco 37:f53e9f7a14df 234 #endif
salco 31:ed23647fd16e 235 break;
salco 31:ed23647fd16e 236
salco 36:474d4795aafa 237 case Labyrinthe::mur:
salco 31:ed23647fd16e 238
salco 31:ed23647fd16e 239 switch(myMaze->getDirection()) {
salco 31:ed23647fd16e 240 case UP:
salco 31:ed23647fd16e 241 if(rand()%1) {
salco 31:ed23647fd16e 242 nextCase = myMaze->getC(myMaze->getX()-1,myMaze->getY());
salco 36:474d4795aafa 243 if(nextCase != Labyrinthe::mur) {
salco 31:ed23647fd16e 244 }
salco 31:ed23647fd16e 245 nextCase = myMaze->getC(myMaze->getX()+1,myMaze->getY());
salco 31:ed23647fd16e 246 } else {
salco 31:ed23647fd16e 247 nextCase = myMaze->getC(myMaze->getX()+1,myMaze->getY()+1);
salco 31:ed23647fd16e 248 }
salco 31:ed23647fd16e 249 break;
salco 31:ed23647fd16e 250
salco 31:ed23647fd16e 251 case DOWN:
salco 31:ed23647fd16e 252 nextCase = myMaze->getC(myMaze->getX(),myMaze->getY()-1);
salco 31:ed23647fd16e 253 break;
salco 31:ed23647fd16e 254
salco 31:ed23647fd16e 255 case LEFT:
salco 31:ed23647fd16e 256 nextCase = myMaze->getC(myMaze->getX()-1,myMaze->getY());
salco 31:ed23647fd16e 257 break;
salco 31:ed23647fd16e 258
salco 31:ed23647fd16e 259 case RIGHT:
salco 31:ed23647fd16e 260 nextCase = myMaze->getC(myMaze->getX()+1,myMaze->getY());
salco 31:ed23647fd16e 261 break;
salco 31:ed23647fd16e 262 }
salco 31:ed23647fd16e 263
salco 31:ed23647fd16e 264 break;
salco 31:ed23647fd16e 265
salco 37:f53e9f7a14df 266 case Labyrinthe::pasExplorer :
salco 31:ed23647fd16e 267 debug(DEBUG_DIRECTIVE_TEST," Javance");
salco 37:f53e9f7a14df 268 #ifndef DEBUG_DIRECTIVE_LEG_DISABLE
salco 31:ed23647fd16e 269 addTableauDeCommande(6);
salco 37:f53e9f7a14df 270 #endif
salco 31:ed23647fd16e 271 break;
salco 28:ac5c6350ed9a 272 }
salco 31:ed23647fd16e 273
salco 37:f53e9f7a14df 274 #ifndef DEBUG_DIRECTIVE_LEG_DISABLE
salco 28:ac5c6350ed9a 275 /*if((ultrasonicToInch(m_valueCapteurUltrasonic)< 1) && (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80)) //capteur ultrasson embrouiller/imprecis
salco 28:ac5c6350ed9a 276 {
salco 28:ac5c6350ed9a 277 debug(DEBUG_DIRECTIVE_TEST,"\n\r -Capteur Ultrasson brouiller");
salco 28:ac5c6350ed9a 278 addTableauDeCommande(6);
salco 31:ed23647fd16e 279 }
salco 28:ac5c6350ed9a 280 else if(ultrasonicToInch(m_valueCapteurUltrasonic) < 10) { //plus proche que 10pouce
salco 28:ac5c6350ed9a 281 debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche");
salco 28:ac5c6350ed9a 282 if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 10) {
salco 28:ac5c6350ed9a 283 debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR");
salco 28:ac5c6350ed9a 284 addTableauDeCommande(7);
salco 28:ac5c6350ed9a 285
salco 19:0ac80045ba4c 286
salco 28:ac5c6350ed9a 287 //ici potentielle scaning
salco 28:ac5c6350ed9a 288 } else {
salco 28:ac5c6350ed9a 289 addTableauDeCommande(4);
salco 28:ac5c6350ed9a 290 addTableauDeCommande(4);
salco 28:ac5c6350ed9a 291 addTableauDeCommande(4);
salco 28:ac5c6350ed9a 292 }
salco 28:ac5c6350ed9a 293 } else {
salco 28:ac5c6350ed9a 294 debug(DEBUG_DIRECTIVE_TEST,"\n\r -Nothing:");
salco 28:ac5c6350ed9a 295 addTableauDeCommande(6);
salco 31:ed23647fd16e 296
salco 31:ed23647fd16e 297
salco 28:ac5c6350ed9a 298 int randomNbr = rand() % 4;
salco 28:ac5c6350ed9a 299 switch(randomNbr)
salco 28:ac5c6350ed9a 300 {
salco 28:ac5c6350ed9a 301 case 1:
salco 28:ac5c6350ed9a 302 debug(DEBUG_DIRECTIVE_TEST," Javance");
salco 28:ac5c6350ed9a 303 addTableauDeCommande(6);
salco 28:ac5c6350ed9a 304 break;
salco 28:ac5c6350ed9a 305 case 2:
salco 28:ac5c6350ed9a 306 debug(DEBUG_DIRECTIVE_TEST," Je tourne a gauche");
salco 28:ac5c6350ed9a 307 addTableauDeCommande(4);
salco 28:ac5c6350ed9a 308 break;
salco 28:ac5c6350ed9a 309 case 3:
salco 28:ac5c6350ed9a 310 debug(DEBUG_DIRECTIVE_TEST," Je tourne a droite");
salco 28:ac5c6350ed9a 311 addTableauDeCommande(5);
salco 28:ac5c6350ed9a 312 break;
salco 28:ac5c6350ed9a 313 default:
salco 28:ac5c6350ed9a 314 debug(DEBUG_DIRECTIVE_TEST," Jattend");
salco 28:ac5c6350ed9a 315 break;
salco 28:ac5c6350ed9a 316 }
salco 31:ed23647fd16e 317
salco 31:ed23647fd16e 318
salco 28:ac5c6350ed9a 319 //addTableauDeCommande(6);
salco 28:ac5c6350ed9a 320 }*/
salco 37:f53e9f7a14df 321
salco 28:ac5c6350ed9a 322 ///////////////
salco 28:ac5c6350ed9a 323 // Mouvement //
salco 28:ac5c6350ed9a 324 ///////////////
salco 37:f53e9f7a14df 325 }
salco 37:f53e9f7a14df 326 else {
salco 37:f53e9f7a14df 327
salco 28:ac5c6350ed9a 328 switch(tableauDeCommange[0]) {
salco 28:ac5c6350ed9a 329 case 11:
salco 28:ac5c6350ed9a 330 debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_calibre");
salco 28:ac5c6350ed9a 331 ctrDesPattes->calibre();
salco 28:ac5c6350ed9a 332 break;
salco 28:ac5c6350ed9a 333 case 2:
salco 28:ac5c6350ed9a 334 debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveUp");
salco 28:ac5c6350ed9a 335 ctrDesPattes->moveUp();
salco 28:ac5c6350ed9a 336 break;
salco 28:ac5c6350ed9a 337 case 3:
salco 28:ac5c6350ed9a 338 debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveDown");
salco 28:ac5c6350ed9a 339 ctrDesPattes->moveDown();
salco 28:ac5c6350ed9a 340 break;
salco 28:ac5c6350ed9a 341 case 4:
salco 28:ac5c6350ed9a 342 debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_turnLeft");
salco 28:ac5c6350ed9a 343 ctrDesPattes->turnLeft();
salco 28:ac5c6350ed9a 344 break;
salco 28:ac5c6350ed9a 345 case 5:
salco 28:ac5c6350ed9a 346 debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_trunRight");
salco 28:ac5c6350ed9a 347 ctrDesPattes->trunRight();
salco 28:ac5c6350ed9a 348 break;
salco 28:ac5c6350ed9a 349 case 6:
salco 28:ac5c6350ed9a 350 debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveFront");
salco 28:ac5c6350ed9a 351 ctrDesPattes->moveFront();
salco 28:ac5c6350ed9a 352 break;
salco 28:ac5c6350ed9a 353 case 7:
salco 28:ac5c6350ed9a 354 debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveBack");
salco 28:ac5c6350ed9a 355 ctrDesPattes->moveBack();
salco 28:ac5c6350ed9a 356 break;
salco 28:ac5c6350ed9a 357 /*case 8:
salco 28:ac5c6350ed9a 358 ctrDesPattes->moveBack();
salco 28:ac5c6350ed9a 359 break;*/
salco 28:ac5c6350ed9a 360 case 0x81:
salco 28:ac5c6350ed9a 361 debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 1");
salco 28:ac5c6350ed9a 362 ctrDesPattes->repositioner(1);
salco 28:ac5c6350ed9a 363 break;
salco 28:ac5c6350ed9a 364 case 0x82:
salco 28:ac5c6350ed9a 365 debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 2");
salco 28:ac5c6350ed9a 366 ctrDesPattes->repositioner(2);
salco 28:ac5c6350ed9a 367 break;
salco 28:ac5c6350ed9a 368 case 0x83:
salco 28:ac5c6350ed9a 369 debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 3");
salco 28:ac5c6350ed9a 370 ctrDesPattes->repositioner(3);
salco 28:ac5c6350ed9a 371 break;
salco 28:ac5c6350ed9a 372 case 0x84:
salco 28:ac5c6350ed9a 373 debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 4");
salco 28:ac5c6350ed9a 374 ctrDesPattes->repositioner(4);
salco 28:ac5c6350ed9a 375 break;
salco 28:ac5c6350ed9a 376 case 0x85:
salco 28:ac5c6350ed9a 377 debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 5");
salco 28:ac5c6350ed9a 378 ctrDesPattes->repositioner(5);
salco 28:ac5c6350ed9a 379 break;
salco 28:ac5c6350ed9a 380 case 0x86:
salco 28:ac5c6350ed9a 381 debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 6");
salco 28:ac5c6350ed9a 382 ctrDesPattes->repositioner(6);
salco 28:ac5c6350ed9a 383 break;
salco 28:ac5c6350ed9a 384 case 0x87:
salco 28:ac5c6350ed9a 385 debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 7");
salco 28:ac5c6350ed9a 386 ctrDesPattes->repositioner(7);
salco 28:ac5c6350ed9a 387 break;
salco 28:ac5c6350ed9a 388 case 0x88:
salco 28:ac5c6350ed9a 389 debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 8");
salco 28:ac5c6350ed9a 390 ctrDesPattes->repositioner(8);
salco 28:ac5c6350ed9a 391 break;
salco 28:ac5c6350ed9a 392 }
salco 28:ac5c6350ed9a 393 debug(DEBUG_DIRECTIVE_TEST,"\n\r -TAB:");
salco 28:ac5c6350ed9a 394 for(int i =0; i<10; i++) debug(DEBUG_DIRECTIVE_TEST,"[%02x]",tableauDeCommange[i]);
salco 28:ac5c6350ed9a 395 for(int i =0; i<9; i++)tableauDeCommange[i]= tableauDeCommange[i+1];
salco 28:ac5c6350ed9a 396 tableauDeCommange[9]=0;
salco 28:ac5c6350ed9a 397 if(size_tableauDeCommange != 0) size_tableauDeCommange--;
salco 28:ac5c6350ed9a 398 }
salco 37:f53e9f7a14df 399
salco 37:f53e9f7a14df 400 } else {
salco 28:ac5c6350ed9a 401 ctrDesPattes->exec();
salco 28:ac5c6350ed9a 402 }
salco 37:f53e9f7a14df 403 #endif //DEBUG_DIRECTIVE_LEG_DISABLE
salco 28:ac5c6350ed9a 404 ////////////////////
salco 28:ac5c6350ed9a 405 // Update memoire //
salco 28:ac5c6350ed9a 406 ////////////////////
salco 28:ac5c6350ed9a 407
salco 28:ac5c6350ed9a 408 ////////////
salco 28:ac5c6350ed9a 409 // Autre? //
salco 28:ac5c6350ed9a 410 ////////////
salco 28:ac5c6350ed9a 411
salco 28:ac5c6350ed9a 412
salco 28:ac5c6350ed9a 413 //debug(DEBUG_DIRECTIVE_TEST,"\n\rOut task directive");
salco 37:f53e9f7a14df 414 #ifdef DEBUG_BOOT_GRAPHICAL_INTERFACE
salco 37:f53e9f7a14df 415 #ifdef DBG_MAIN_DELAY_SEC
salco 37:f53e9f7a14df 416 debug("\n\r\n wait \n\r\n");
salco 37:f53e9f7a14df 417 wait(DBG_MAIN_DELAY_SEC);
salco 37:f53e9f7a14df 418 #endif
salco 37:f53e9f7a14df 419 #endif
salco 28:ac5c6350ed9a 420 }
salco 28:ac5c6350ed9a 421 double Directive::IRToCm (double miliVolt)
salco 28:ac5c6350ed9a 422 {
salco 28:ac5c6350ed9a 423 double result=0;
salco 28:ac5c6350ed9a 424
salco 28:ac5c6350ed9a 425 if(miliVolt < tabIR[0][1])result = tabIR[0][0];
salco 28:ac5c6350ed9a 426 else if(miliVolt > tabIR[11][1])result = tabIR[11][0];
salco 28:ac5c6350ed9a 427
salco 28:ac5c6350ed9a 428 for(int i =1; (result==0)&&(i<12); i++) {
salco 28:ac5c6350ed9a 429 if((tabIR[i-1][1]<=miliVolt) && (tabIR[i][1]>miliVolt)) {
salco 28:ac5c6350ed9a 430 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 431 }
salco 28:ac5c6350ed9a 432 }
salco 28:ac5c6350ed9a 433 return result;
salco 28:ac5c6350ed9a 434 }
salco 28:ac5c6350ed9a 435 void Directive::addTableauDeCommande(unsigned char value)
salco 28:ac5c6350ed9a 436 {
salco 28:ac5c6350ed9a 437 if(size_tableauDeCommange!=10) {
salco 28:ac5c6350ed9a 438 tableauDeCommange[size_tableauDeCommange]=value;
salco 28:ac5c6350ed9a 439 size_tableauDeCommange++;
salco 28:ac5c6350ed9a 440
salco 28:ac5c6350ed9a 441 }
salco 28:ac5c6350ed9a 442 }
salco 28:ac5c6350ed9a 443
salco 28:ac5c6350ed9a 444 void Directive::updateModuleValue(void)
salco 28:ac5c6350ed9a 445 {
salco 28:ac5c6350ed9a 446 string flag,data;
salco 28:ac5c6350ed9a 447 flag.clear();
salco 28:ac5c6350ed9a 448 data.clear();
salco 28:ac5c6350ed9a 449 flag.append(1,7);
salco 28:ac5c6350ed9a 450 if(m_CtrlBridge->send(m_capteurUltrasonic[0],flag,data))
salco 28:ac5c6350ed9a 451 m_valueCapteurUltrasonic = data[0];
salco 28:ac5c6350ed9a 452
salco 28:ac5c6350ed9a 453
salco 28:ac5c6350ed9a 454 flag.clear();
salco 28:ac5c6350ed9a 455 data.clear();
salco 28:ac5c6350ed9a 456 flag.append(1,7);
salco 28:ac5c6350ed9a 457 if(m_CtrlBridge->send(m_capteurIR[0],flag,data)) {
salco 28:ac5c6350ed9a 458 if(data.size() == 2) {
salco 28:ac5c6350ed9a 459 m_valueCapteurIR = data[0];
salco 28:ac5c6350ed9a 460 m_valueCapteurIR = (m_valueCapteurIR<<8) + data[1];
salco 28:ac5c6350ed9a 461 } else
salco 28:ac5c6350ed9a 462 m_valueCapteurIR = data[0];
salco 28:ac5c6350ed9a 463 }
salco 28:ac5c6350ed9a 464
salco 28:ac5c6350ed9a 465 flag.clear();
salco 28:ac5c6350ed9a 466 data.clear();
salco 28:ac5c6350ed9a 467 flag.append(1,7);
salco 28:ac5c6350ed9a 468 if(m_CtrlBridge->send(m_capteurProximiter[0],flag,data))
salco 28:ac5c6350ed9a 469 m_valueCapteurProximiter = data[0];
salco 28:ac5c6350ed9a 470 }
salco 28:ac5c6350ed9a 471
salco 28:ac5c6350ed9a 472 void Directive::analiseMaze(void)
salco 28:ac5c6350ed9a 473 {
salco 28:ac5c6350ed9a 474 char areaLatt =0;
salco 28:ac5c6350ed9a 475 char areaVert =0;
salco 28:ac5c6350ed9a 476 string mymap = myMaze->showMap();
salco 28:ac5c6350ed9a 477 debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r Labyrinthe map: X:%02x Y:%02x \n\r",myMaze->getX(),myMaze->getY());
salco 37:f53e9f7a14df 478
salco 37:f53e9f7a14df 479 debug("Direction: ");
salco 37:f53e9f7a14df 480 switch(myMaze->getDirection()) {
salco 37:f53e9f7a14df 481 case UP:
salco 37:f53e9f7a14df 482 debug(DEBUG_DIRECTIVE_LABYRINTH,"Up \n\r");
salco 37:f53e9f7a14df 483 break;
salco 37:f53e9f7a14df 484 case DOWN:
salco 37:f53e9f7a14df 485 debug(DEBUG_DIRECTIVE_LABYRINTH,"Down \n\r");
salco 37:f53e9f7a14df 486 break;
salco 37:f53e9f7a14df 487 case LEFT:
salco 37:f53e9f7a14df 488 debug(DEBUG_DIRECTIVE_LABYRINTH,"Left \n\r");
salco 37:f53e9f7a14df 489 break;
salco 37:f53e9f7a14df 490 case RIGHT:
salco 37:f53e9f7a14df 491 debug(DEBUG_DIRECTIVE_LABYRINTH,"Right \n\r");
salco 37:f53e9f7a14df 492 break;
salco 37:f53e9f7a14df 493 }
salco 37:f53e9f7a14df 494
salco 36:474d4795aafa 495 for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+6]);
salco 28:ac5c6350ed9a 496 debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
salco 31:ed23647fd16e 497 for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+3]);
salco 28:ac5c6350ed9a 498 debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
salco 36:474d4795aafa 499 for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i]);
salco 28:ac5c6350ed9a 500 debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
salco 31:ed23647fd16e 501
salco 31:ed23647fd16e 502
salco 37:f53e9f7a14df 503 #ifndef DEBUG_DIRECTIVE_LABYRINTH_USER_CTRL
salco 31:ed23647fd16e 504 if((ultrasonicToInch(m_valueCapteurUltrasonic)< 1) && (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80)) { //capteur ultrasson embrouiller/imprecis
salco 31:ed23647fd16e 505 debug(DEBUG_DIRECTIVE_TEST,"\n\r -Capteur Ultrasson brouiller");
salco 31:ed23647fd16e 506 //addTableauDeCommande(6);
salco 31:ed23647fd16e 507 } else if(ultrasonicToInch(m_valueCapteurUltrasonic) >=24) { //plus proche que 10pouce
salco 31:ed23647fd16e 508 debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche 2pi");
salco 31:ed23647fd16e 509 areaLatt =2;
salco 31:ed23647fd16e 510 areaVert =2;
salco 31:ed23647fd16e 511 } else if(ultrasonicToInch(m_valueCapteurUltrasonic) >=12) { //plus proche que 10pouce
salco 31:ed23647fd16e 512 debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche 2pi");
salco 31:ed23647fd16e 513 areaLatt =1;
salco 31:ed23647fd16e 514 areaVert =1;
salco 31:ed23647fd16e 515 }
salco 37:f53e9f7a14df 516 debug(DEBUG_DIRECTIVE_TEST,": %i",ultrasonicToInch(m_valueCapteurUltrasonic));
salco 37:f53e9f7a14df 517
salco 31:ed23647fd16e 518 if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 60) {
salco 31:ed23647fd16e 519 debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR");
salco 31:ed23647fd16e 520 areaVert =2;
salco 31:ed23647fd16e 521 } else if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 30) {
salco 31:ed23647fd16e 522 debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR");
salco 31:ed23647fd16e 523 areaVert =1;
salco 31:ed23647fd16e 524 }
salco 37:f53e9f7a14df 525 debug(DEBUG_DIRECTIVE_TEST,": %i",IRToCm(ADCTomv(m_valueCapteurIR));
salco 37:f53e9f7a14df 526 #endif
salco 31:ed23647fd16e 527
salco 37:f53e9f7a14df 528 #ifdef DEBUG_DIRECTIVE_LABYRINTH_USER_CTRL
salco 37:f53e9f7a14df 529 debug("\n\r---analise maze(manualy CTRL)---\n\r");
salco 37:f53e9f7a14df 530 int idCommand = -1;
salco 37:f53e9f7a14df 531 do{
salco 37:f53e9f7a14df 532 debug("\n\r Enter areaVert [0,1,2]: "); idCommand = fgetc(pc) - '0';
salco 37:f53e9f7a14df 533 debug(" %i",idCommand);
salco 37:f53e9f7a14df 534 }while((idCommand < 0) && (idCommand > 2));
salco 37:f53e9f7a14df 535 areaVert = idCommand;
salco 37:f53e9f7a14df 536
salco 37:f53e9f7a14df 537 do{
salco 37:f53e9f7a14df 538 debug("\n\r Enter areaLatt [0,1,2]: "); idCommand = fgetc(pc) - '0';
salco 37:f53e9f7a14df 539 debug(" %i",idCommand);
salco 37:f53e9f7a14df 540 }while((idCommand < 0) && (idCommand > 2));
salco 37:f53e9f7a14df 541 areaLatt = idCommand;
salco 31:ed23647fd16e 542
salco 37:f53e9f7a14df 543 debug("\n\r");
salco 37:f53e9f7a14df 544 #endif
salco 37:f53e9f7a14df 545 //changer lalgoritme ici
salco 37:f53e9f7a14df 546
salco 37:f53e9f7a14df 547 /*
salco 37:f53e9f7a14df 548 /---\
salco 37:f53e9f7a14df 549 |?M?| //vert 0
salco 37:f53e9f7a14df 550 |.X.| //latt 0
salco 37:f53e9f7a14df 551 |...|
salco 37:f53e9f7a14df 552 \---/
salco 31:ed23647fd16e 553
salco 37:f53e9f7a14df 554 /-M-\
salco 37:f53e9f7a14df 555 |?V?| //vert 1
salco 37:f53e9f7a14df 556 |.X.| //latt 0
salco 37:f53e9f7a14df 557 |...|
salco 37:f53e9f7a14df 558 \---/
salco 37:f53e9f7a14df 559
salco 37:f53e9f7a14df 560 /?M?\
salco 37:f53e9f7a14df 561 |VVV| //vert 1
salco 37:f53e9f7a14df 562 |.X.| //latt 1
salco 37:f53e9f7a14df 563 |...| // objet possiblement a proximiter
salco 37:f53e9f7a14df 564 \---/
salco 31:ed23647fd16e 565
salco 37:f53e9f7a14df 566 /?M?\
salco 37:f53e9f7a14df 567 |VVV| //vert 1
salco 37:f53e9f7a14df 568 |.X.| //latt 2
salco 37:f53e9f7a14df 569 |...| // cas impossible
salco 37:f53e9f7a14df 570 \---/
salco 31:ed23647fd16e 571
salco 37:f53e9f7a14df 572 /?V?\
salco 37:f53e9f7a14df 573 |?V?| //vert 2
salco 37:f53e9f7a14df 574 |.X.| //latt 0
salco 37:f53e9f7a14df 575 |...| // objet possiblement a proximiter
salco 37:f53e9f7a14df 576 \---/
salco 37:f53e9f7a14df 577
salco 37:f53e9f7a14df 578 /?V?\
salco 37:f53e9f7a14df 579 |VVV| //vert 2
salco 37:f53e9f7a14df 580 |.X.| //latt 1
salco 37:f53e9f7a14df 581 |...| // objet possiblement a proximiter
salco 37:f53e9f7a14df 582 \---/
salco 31:ed23647fd16e 583
salco 37:f53e9f7a14df 584 /VVV\
salco 37:f53e9f7a14df 585 |VVV| //vert 2
salco 37:f53e9f7a14df 586 |.X.| //latt 2
salco 37:f53e9f7a14df 587 |...|
salco 37:f53e9f7a14df 588 \---/
salco 37:f53e9f7a14df 589 */
salco 37:f53e9f7a14df 590 //vertical==0 latt==0 //mur devant
salco 37:f53e9f7a14df 591 //vertical==1 latt==1
salco 37:f53e9f7a14df 592 ////////////////////////////////////
salco 37:f53e9f7a14df 593 //345 415
salco 37:f53e9f7a14df 594 //012 203| numerotation des case
salco 37:f53e9f7a14df 595 ///////////////////////////////////
salco 37:f53e9f7a14df 596 signed char fieldX[6]={0,0,0,0,0,0};
salco 37:f53e9f7a14df 597 signed char fieldY[6]={0,0,0,0,0,0};
salco 37:f53e9f7a14df 598 bool fieldSet = false;
salco 31:ed23647fd16e 599
salco 37:f53e9f7a14df 600 switch(myMaze->getDirection())
salco 37:f53e9f7a14df 601 {
salco 37:f53e9f7a14df 602 case UP:
salco 37:f53e9f7a14df 603 fieldX[0] = myMaze->getX()-1;
salco 37:f53e9f7a14df 604 fieldY[0] = myMaze->getY()+1;
salco 37:f53e9f7a14df 605 fieldX[1] = myMaze->getX();
salco 37:f53e9f7a14df 606 fieldY[1] = myMaze->getY()+1;
salco 37:f53e9f7a14df 607 fieldX[2] = myMaze->getX()+1;
salco 37:f53e9f7a14df 608 fieldY[2] = myMaze->getY()+1;
salco 37:f53e9f7a14df 609 fieldX[3] = myMaze->getX()-1;
salco 37:f53e9f7a14df 610 fieldY[3] = myMaze->getY()+2;
salco 37:f53e9f7a14df 611 fieldX[4] = myMaze->getX();
salco 37:f53e9f7a14df 612 fieldY[4] = myMaze->getY()+2;
salco 37:f53e9f7a14df 613 fieldX[5] = myMaze->getX()+1;
salco 37:f53e9f7a14df 614 fieldY[5] = myMaze->getY()+2;
salco 37:f53e9f7a14df 615 break;
salco 37:f53e9f7a14df 616
salco 37:f53e9f7a14df 617 case DOWN:
salco 37:f53e9f7a14df 618 fieldX[0] = myMaze->getX()-1;
salco 37:f53e9f7a14df 619 fieldY[0] = myMaze->getY()-1;
salco 37:f53e9f7a14df 620 fieldX[1] = myMaze->getX();
salco 37:f53e9f7a14df 621 fieldY[1] = myMaze->getY()-1;
salco 37:f53e9f7a14df 622 fieldX[2] = myMaze->getX()+1;
salco 37:f53e9f7a14df 623 fieldY[2] = myMaze->getY()-1;
salco 37:f53e9f7a14df 624 fieldX[3] = myMaze->getX()-1;
salco 37:f53e9f7a14df 625 fieldY[3] = myMaze->getY()-2;
salco 37:f53e9f7a14df 626 fieldX[4] = myMaze->getX();
salco 37:f53e9f7a14df 627 fieldY[4] = myMaze->getY()-2;
salco 37:f53e9f7a14df 628 fieldX[5] = myMaze->getX()+1;
salco 37:f53e9f7a14df 629 fieldY[5] = myMaze->getY()-2;
salco 37:f53e9f7a14df 630 break;
salco 37:f53e9f7a14df 631
salco 37:f53e9f7a14df 632 case LEFT:
salco 37:f53e9f7a14df 633 fieldX[0] = myMaze->getX()-1;
salco 37:f53e9f7a14df 634 fieldY[0] = myMaze->getY()-1;
salco 37:f53e9f7a14df 635 fieldX[1] = myMaze->getX()-1;
salco 37:f53e9f7a14df 636 fieldY[1] = myMaze->getY();
salco 37:f53e9f7a14df 637 fieldX[2] = myMaze->getX()-1;
salco 37:f53e9f7a14df 638 fieldY[2] = myMaze->getY()+1;
salco 37:f53e9f7a14df 639 fieldX[3] = myMaze->getX()-2;
salco 37:f53e9f7a14df 640 fieldY[3] = myMaze->getY()-1;
salco 37:f53e9f7a14df 641 fieldX[4] = myMaze->getX()-2;
salco 37:f53e9f7a14df 642 fieldY[4] = myMaze->getY();
salco 37:f53e9f7a14df 643 fieldX[5] = myMaze->getX()-2;
salco 37:f53e9f7a14df 644 fieldY[5] = myMaze->getY()+1;
salco 37:f53e9f7a14df 645 break;
salco 37:f53e9f7a14df 646
salco 37:f53e9f7a14df 647 case RIGHT:
salco 37:f53e9f7a14df 648 fieldX[0] = myMaze->getX()+1;
salco 37:f53e9f7a14df 649 fieldY[0] = myMaze->getY()-1;
salco 37:f53e9f7a14df 650 fieldX[1] = myMaze->getX()+1;
salco 37:f53e9f7a14df 651 fieldY[1] = myMaze->getY();
salco 37:f53e9f7a14df 652 fieldX[2] = myMaze->getX()+1;
salco 37:f53e9f7a14df 653 fieldY[2] = myMaze->getY()+1;
salco 37:f53e9f7a14df 654 fieldX[3] = myMaze->getX()+2;
salco 37:f53e9f7a14df 655 fieldY[3] = myMaze->getY()-1;
salco 37:f53e9f7a14df 656 fieldX[4] = myMaze->getX()+2;
salco 37:f53e9f7a14df 657 fieldY[4] = myMaze->getY();
salco 37:f53e9f7a14df 658 fieldX[5] = myMaze->getX()+2;
salco 37:f53e9f7a14df 659 fieldY[5] = myMaze->getY()+1;
salco 37:f53e9f7a14df 660 break;
salco 37:f53e9f7a14df 661 }
salco 37:f53e9f7a14df 662 if(areaVert >= areaLatt)
salco 37:f53e9f7a14df 663 {
salco 37:f53e9f7a14df 664 switch(areaVert)
salco 37:f53e9f7a14df 665 {
salco 37:f53e9f7a14df 666 case 0:
salco 37:f53e9f7a14df 667 /*
salco 37:f53e9f7a14df 668 /---\
salco 37:f53e9f7a14df 669 |?M?| //vert 0
salco 37:f53e9f7a14df 670 |.X.| //latt 0
salco 37:f53e9f7a14df 671 |...|
salco 37:f53e9f7a14df 672 \---/
salco 37:f53e9f7a14df 673 */
salco 37:f53e9f7a14df 674 myMaze->setC(Labyrinthe::mur,fieldX[1],fieldY[1]);
salco 37:f53e9f7a14df 675 fieldSet = true;
salco 28:ac5c6350ed9a 676 break;
salco 37:f53e9f7a14df 677 case 1:
salco 37:f53e9f7a14df 678 /*
salco 37:f53e9f7a14df 679 /-M-\
salco 37:f53e9f7a14df 680 |?V?| //vert 1
salco 37:f53e9f7a14df 681 |.X.| //latt 0
salco 37:f53e9f7a14df 682 |...|
salco 37:f53e9f7a14df 683 \---/
salco 37:f53e9f7a14df 684 */
salco 37:f53e9f7a14df 685 myMaze->setC(Labyrinthe::vide,fieldX[1],fieldY[1]);
salco 37:f53e9f7a14df 686 myMaze->setC(Labyrinthe::mur,fieldX[4],fieldY[4]);
salco 37:f53e9f7a14df 687 fieldSet = true;
salco 37:f53e9f7a14df 688
salco 37:f53e9f7a14df 689 if(areaLatt == 1)
salco 37:f53e9f7a14df 690 {
salco 37:f53e9f7a14df 691 /*
salco 37:f53e9f7a14df 692 /?M?\
salco 37:f53e9f7a14df 693 |VVV| //vert 1
salco 37:f53e9f7a14df 694 |.X.| //latt 1
salco 37:f53e9f7a14df 695 |...| // objet possiblement a proximiter
salco 37:f53e9f7a14df 696 \---/
salco 37:f53e9f7a14df 697 */
salco 37:f53e9f7a14df 698 myMaze->setC(Labyrinthe::vide,fieldX[0],fieldY[0]);
salco 37:f53e9f7a14df 699 myMaze->setC(Labyrinthe::vide,fieldX[2],fieldY[2]);
salco 28:ac5c6350ed9a 700 }
salco 28:ac5c6350ed9a 701 break;
salco 37:f53e9f7a14df 702 case 2:
salco 37:f53e9f7a14df 703 fieldSet = true;
salco 37:f53e9f7a14df 704 switch(areaLatt)
salco 37:f53e9f7a14df 705 {
salco 37:f53e9f7a14df 706 case 0:
salco 37:f53e9f7a14df 707 /*
salco 37:f53e9f7a14df 708 /?V?\
salco 37:f53e9f7a14df 709 |?V?| //vert 2
salco 37:f53e9f7a14df 710 |.X.| //latt 0
salco 37:f53e9f7a14df 711 |...| // objet possiblement a proximiter
salco 37:f53e9f7a14df 712 \---/
salco 37:f53e9f7a14df 713 */
salco 37:f53e9f7a14df 714 myMaze->setC(Labyrinthe::vide,fieldX[1],fieldY[1]);
salco 37:f53e9f7a14df 715 myMaze->setC(Labyrinthe::vide,fieldX[4],fieldY[4]);
salco 37:f53e9f7a14df 716 break;
salco 37:f53e9f7a14df 717 case 1:
salco 37:f53e9f7a14df 718 /*
salco 37:f53e9f7a14df 719 /?V?\
salco 37:f53e9f7a14df 720 |VVV| //vert 2
salco 37:f53e9f7a14df 721 |.X.| //latt 1
salco 37:f53e9f7a14df 722 |...| // objet possiblement a proximiter
salco 37:f53e9f7a14df 723 \---/
salco 37:f53e9f7a14df 724 */
salco 37:f53e9f7a14df 725 for(int i = 0;i<3;i++)myMaze->setC(Labyrinthe::vide,fieldX[i],fieldY[i]);
salco 37:f53e9f7a14df 726 myMaze->setC(Labyrinthe::vide,fieldX[4],fieldY[4]);
salco 37:f53e9f7a14df 727 break;
salco 37:f53e9f7a14df 728 case 2:
salco 37:f53e9f7a14df 729 /*
salco 37:f53e9f7a14df 730 /VVV\
salco 37:f53e9f7a14df 731 |VVV| //vert 2
salco 37:f53e9f7a14df 732 |.X.| //latt 2
salco 37:f53e9f7a14df 733 |...|
salco 37:f53e9f7a14df 734 \---/
salco 37:f53e9f7a14df 735 */
salco 37:f53e9f7a14df 736 for(int i = 0;i<6;i++)myMaze->setC( Labyrinthe::vide,fieldX[i],fieldY[i]);
salco 37:f53e9f7a14df 737 break;
salco 37:f53e9f7a14df 738 }
salco 28:ac5c6350ed9a 739 break;
salco 37:f53e9f7a14df 740 }
salco 37:f53e9f7a14df 741 }
salco 37:f53e9f7a14df 742
salco 37:f53e9f7a14df 743 if(fieldSet == false)// on a un cas impossible
salco 37:f53e9f7a14df 744 {
salco 37:f53e9f7a14df 745 myMaze->setC(Labyrinthe::error,fieldX[1],fieldY[1]);
salco 37:f53e9f7a14df 746 }
salco 31:ed23647fd16e 747
salco 37:f53e9f7a14df 748 ////////////////////////////////////
salco 31:ed23647fd16e 749
salco 31:ed23647fd16e 750
salco 37:f53e9f7a14df 751 #ifdef DEBUG_DIRECTIVE_LABYRINTH_USER_CTRL
salco 37:f53e9f7a14df 752 mymap = myMaze->showMap();
salco 37:f53e9f7a14df 753 for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+6]);
salco 37:f53e9f7a14df 754 debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
salco 37:f53e9f7a14df 755 for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+3]);
salco 37:f53e9f7a14df 756 debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
salco 37:f53e9f7a14df 757 for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i]);
salco 37:f53e9f7a14df 758 debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
salco 37:f53e9f7a14df 759
salco 37:f53e9f7a14df 760 debug("\n\r-------------------\n\r");
salco 37:f53e9f7a14df 761 #endif
salco 2:4c5b0f6d0a6b 762 }