Alexandre Salconi-Denis
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
Diff: directive.cpp
- Revision:
- 28:ac5c6350ed9a
- Parent:
- 27:ea60d12dccdf
- Child:
- 31:ed23647fd16e
--- a/directive.cpp Thu May 14 21:40:23 2015 +0000
+++ b/directive.cpp Tue Jul 28 01:22:16 2015 +0000
@@ -1,24 +1,64 @@
#include "directive.h"
+int tabIR[12][2]= {
+ {80, 400},{50, 600},{40, 700},{30, 900},{25,1100},
+ {20,1300},{15,1600},{10,2400},{ 8,2700},{ 7,3000},
+ { 6,3200},{ 5,3100}
+};
+
+
+
+
+
Directive::Directive():TTask(0)//on veux que cette tache sois exec toute les fois que TTaskGen sexecute.
{
- c=0;
+ /* initialize random seed: */
+ srand (time(NULL));
+
+ myMaze->setDirection(UP);
+ //c=0;
ssc32 = new /*Serial*//*Raw*/Serial/*(USBTX, USBRX);*/(PB_6, PB_7);//(PA_9, PA_10);
ctrDesPattes = new Faculter_motrice(ssc32/*pc*/);
+ m_valueCapteurUltrasonic = 0;
+ m_valueCapteurIR = 0;
+ m_valueCapteurProximiter = 0;
+ for(int i =0; i<10; i++)tableauDeCommange[i]= 0;
+ size_tableauDeCommange=0;
+ myMaze->setC(EXPLORER,C5);
//m_CtrlBridge = m_CtrlBridge->getInstance();
//a enlever de commentaire//m_ListDesModules = m_CtrlBridge->findModule(0,1,0,0);
//Serial pc(USBTX, USBRX);
//ssc32->set_flow_control(0);
+
+ myMaze = new Labyrinthe();
debug("\n\r directive Init");//printf("Hello World\n");
m_ListDesModules = m_CtrlBridge->findModule(0,CAPTEUR,DISTANCE,0);
m_ListDesModules.append(m_CtrlBridge->findModule(0,CAPTEUR,PROXIMITEE,0));
-
+
m_capteurUltrasonic= m_CtrlBridge->findModule(0,CAPTEUR,ULTRASONIQUE,0x27/*0b100111*/);
+ if(!(m_capteurUltrasonic.empty()))debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurUltrasonic found");
+ else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurUltrasonic not found");
m_capteurIR= m_CtrlBridge->findModule(0,CAPTEUR,DISTANCE,0x27/*0b100111*/);
+ if(!(m_capteurIR.empty()))debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurIR found");
+ else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurIR not found");
m_capteurProximiter= m_CtrlBridge->findModule(0,CAPTEUR,PROXIMITEE,0x0E/*0b001110*/);
+ if(!(m_capteurProximiter.empty()))debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurProximiter found");
+ else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurProximiter not found");
+
+ ctrDesPattes->moveUp();
+
+ bool getUp=true;
+ while((getUp)&& (! ctrDesPattes->isSeqComplet())) {
+ ctrDesPattes->exec();
+
+ if(ctrDesPattes->get_idFrame() >= 5)
+ getUp = false;
+
+ }
+ ctrDesPattes->calibre();
}
Directive::~Directive()
{
@@ -27,43 +67,580 @@
delete ctrDesPattes;
if(ssc32)
delete ssc32;
+ if(myMaze)
+ delete myMaze;
}
void Directive::task(void)//ALL CODE HERE//
{
- debug(DEBUG_DIRECTIVE_TEST,"\n\rIn task directive");
- //pas sur que c'Est tout ce qui doit etre ici mais je vois pas quoi d'autre pour le moment.
- string flag,data;
+ //debug(DEBUG_DIRECTIVE_TEST,"\n\rIn task directive");
+ if(ctrDesPattes->isSeqComplet()) {
+ if((tableauDeCommange[0] == 6) && (size_tableauDeCommange == 1)) {
+ //addTableauDeCommande(0x81);
+ //addTableauDeCommande(0x82);
+ //mabey//addTableauDeCommande(0x83);
+ addTableauDeCommande(0x84);
+
+ //addTableauDeCommande(0x85);
+ //mabey//addTableauDeCommande(0x86);
+ addTableauDeCommande(0x87);
+ addTableauDeCommande(0x88);
+ }
+ if(tableauDeCommange[0] == 0) {
+ //pas sur que c'Est tout ce qui doit etre ici mais je vois pas quoi d'autre pour le moment.
+
+ ////////////////
+ // Inspection //
+ ////////////////
+ //flag.append(1,0);//0x02);
+ /*for(int i=0; i<m_ListDesModules.length(); ++i) {
+ wait_us(300);
+ flag.clear();
+ flag.append(1,7);
+ data.clear();
+ debug("\n\r result: %d",m_CtrlBridge->send(m_ListDesModules.at(i),flag,data));
+
+ debug("\n\r flag: %d",flag[0]);
+ debug("\n\r data: %x",data[0]);
+ }*/
+ #ifndef BACKUP
+ updateModuleValue();
+
+ //////////////////////////////
+ // Traitement du Labyrinthe //
+ //////////////////////////////
+ debug(DEBUG_DIRECTIVE_TEST,"\n\r -IRToCm(%02f): %02f",ADCTomv(m_valueCapteurIR),IRToCm(ADCTomv(m_valueCapteurIR)));
+ debug(DEBUG_DIRECTIVE_TEST,"\n\r -ultrasonicToInch: %02f",ultrasonicToInch(m_valueCapteurUltrasonic));
+ debug(DEBUG_DIRECTIVE_TEST,"\n\r -m_valueCapteurProximiter: %02d",m_valueCapteurProximiter);
+
+ analiseMaze();
+ char nextCase=0;
+ switch(myMaze->getDirection())
+ {
+ case UP:
+ nextCase = myMaze->getC(myMaze->getX(),myMaze->getY()+1);
+ break;
+
+ case DOWN:
+ nextCase = myMaze->getC(myMaze->getX(),myMaze->getY()-1);
+ break;
+
+ case LEFT:
+ nextCase = myMaze->getC(myMaze->getX()-1,myMaze->getY());
+ break;
+
+ case RIGHT:
+ nextCase = myMaze->getC(myMaze->getX()+1,myMaze->getY());
+ break;
+ }
+
+ switch(nextCase )
+ {
+ case VIDE:
+ debug(DEBUG_DIRECTIVE_TEST," Javance");
+ addTableauDeCommande(6);
+ break;
+
+ case EXPLORER:// ici pt amiliorer
+ debug(DEBUG_DIRECTIVE_TEST," Javance");
+ addTableauDeCommande(6);
+ break;
+
+ case MUR:
+
+ switch(myMaze->getDirection())
+ {
+ case UP:
+ if(rand()%1){
+ nextCase = myMaze->getC(myMaze->getX()-1,myMaze->getY());
+ if(nextCase != MUR)
+ {
+
+ }
+ nextCase = myMaze->getC(myMaze->getX()+1,myMaze->getY());
+ }
+ else{
+ nextCase = myMaze->getC(myMaze->getX()+1,myMaze->getY()+1);
+ }
+ break;
+
+ case DOWN:
+ nextCase = myMaze->getC(myMaze->getX(),myMaze->getY()-1);
+ break;
+
+ case LEFT:
+ nextCase = myMaze->getC(myMaze->getX()-1,myMaze->getY());
+ break;
+
+ case RIGHT:
+ nextCase = myMaze->getC(myMaze->getX()+1,myMaze->getY());
+ break;
+ }
+
+ break;
+
+ case PAS_EXPLORER:
+ debug(DEBUG_DIRECTIVE_TEST," Javance");
+ addTableauDeCommande(6);
+ break;
+ }
+
+ #endif
+ #if BACKUP
+ /*if((ultrasonicToInch(m_valueCapteurUltrasonic)< 1) && (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80)) //capteur ultrasson embrouiller/imprecis
+ {
+ debug(DEBUG_DIRECTIVE_TEST,"\n\r -Capteur Ultrasson brouiller");
+ addTableauDeCommande(6);
+ }
+ else if(ultrasonicToInch(m_valueCapteurUltrasonic) < 10) { //plus proche que 10pouce
+ debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche");
+ if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 10) {
+ debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR");
+ addTableauDeCommande(7);
+
- ////////////////
- // Inspection //
- ////////////////
- flag.append(1,0);//0x02);
- for(int i=0; i<m_ListDesModules.length(); ++i)
- {
- wait_us(300);
- flag.clear();
- flag.append(1,7);
- data.clear();
- debug("\n\r result: %d",m_CtrlBridge->send(m_ListDesModules.at(i),flag,data));
-
- debug("\n\r flag: %d",flag[0]);
- debug("\n\r data: %x",data[0]);
+ //ici potentielle scaning
+ } else {
+ addTableauDeCommande(4);
+ addTableauDeCommande(4);
+ addTableauDeCommande(4);
+ }
+ } else {
+ debug(DEBUG_DIRECTIVE_TEST,"\n\r -Nothing:");
+ addTableauDeCommande(6);
+
+
+ int randomNbr = rand() % 4;
+ switch(randomNbr)
+ {
+ case 1:
+ debug(DEBUG_DIRECTIVE_TEST," Javance");
+ addTableauDeCommande(6);
+ break;
+ case 2:
+ debug(DEBUG_DIRECTIVE_TEST," Je tourne a gauche");
+ addTableauDeCommande(4);
+ break;
+ case 3:
+ debug(DEBUG_DIRECTIVE_TEST," Je tourne a droite");
+ addTableauDeCommande(5);
+ break;
+ default:
+ debug(DEBUG_DIRECTIVE_TEST," Jattend");
+ break;
+ }
+
+
+ //addTableauDeCommande(6);
+ }*/
+ #endif
+ ///////////////
+ // Mouvement //
+ ///////////////
+ } else {
+ switch(tableauDeCommange[0]) {
+ case 11:
+ debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_calibre");
+ ctrDesPattes->calibre();
+ break;
+ case 2:
+ debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveUp");
+ ctrDesPattes->moveUp();
+ break;
+ case 3:
+ debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveDown");
+ ctrDesPattes->moveDown();
+ break;
+ case 4:
+ debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_turnLeft");
+ ctrDesPattes->turnLeft();
+ break;
+ case 5:
+ debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_trunRight");
+ ctrDesPattes->trunRight();
+ break;
+ case 6:
+ debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveFront");
+ ctrDesPattes->moveFront();
+ break;
+ case 7:
+ debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveBack");
+ ctrDesPattes->moveBack();
+ break;
+ /*case 8:
+ ctrDesPattes->moveBack();
+ break;*/
+ case 0x81:
+ debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 1");
+ ctrDesPattes->repositioner(1);
+ break;
+ case 0x82:
+ debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 2");
+ ctrDesPattes->repositioner(2);
+ break;
+ case 0x83:
+ debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 3");
+ ctrDesPattes->repositioner(3);
+ break;
+ case 0x84:
+ debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 4");
+ ctrDesPattes->repositioner(4);
+ break;
+ case 0x85:
+ debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 5");
+ ctrDesPattes->repositioner(5);
+ break;
+ case 0x86:
+ debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 6");
+ ctrDesPattes->repositioner(6);
+ break;
+ case 0x87:
+ debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 7");
+ ctrDesPattes->repositioner(7);
+ break;
+ case 0x88:
+ debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 8");
+ ctrDesPattes->repositioner(8);
+ break;
+ }
+ debug(DEBUG_DIRECTIVE_TEST,"\n\r -TAB:");
+ for(int i =0; i<10; i++) debug(DEBUG_DIRECTIVE_TEST,"[%02x]",tableauDeCommange[i]);
+ for(int i =0; i<9; i++)tableauDeCommange[i]= tableauDeCommange[i+1];
+ tableauDeCommange[9]=0;
+ if(size_tableauDeCommange != 0) size_tableauDeCommange--;
+ }
+ } else {
+ ctrDesPattes->exec();
+ }
+ ////////////////////
+ // Update memoire //
+ ////////////////////
+
+ ////////////
+ // Autre? //
+ ////////////
+
+
+ //debug(DEBUG_DIRECTIVE_TEST,"\n\rOut task directive");
+}
+double Directive::IRToCm (double miliVolt)
+{
+ double result=0;
+
+ if(miliVolt < tabIR[0][1])result = tabIR[0][0];
+ else if(miliVolt > tabIR[11][1])result = tabIR[11][0];
+
+ for(int i =1; (result==0)&&(i<12); i++) {
+ if((tabIR[i-1][1]<=miliVolt) && (tabIR[i][1]>miliVolt)) {
+ result=tabIR[i-1][0]+((tabIR[i][0]-tabIR[i-1][0])*((tabIR[i-1][1]-miliVolt)/(tabIR[i-1][1]-tabIR[i][1])));
+ }
+ }
+ return result;
+}
+void Directive::addTableauDeCommande(unsigned char value)
+{
+ if(size_tableauDeCommange!=10) {
+ tableauDeCommange[size_tableauDeCommange]=value;
+ size_tableauDeCommange++;
+
+ }
+}
+
+void Directive::updateModuleValue(void)
+{
+ string flag,data;
+ flag.clear();
+ data.clear();
+ flag.append(1,7);
+ if(m_CtrlBridge->send(m_capteurUltrasonic[0],flag,data))
+ m_valueCapteurUltrasonic = data[0];
+
+
+ flag.clear();
+ data.clear();
+ flag.append(1,7);
+ if(m_CtrlBridge->send(m_capteurIR[0],flag,data)) {
+ if(data.size() == 2) {
+ m_valueCapteurIR = data[0];
+ m_valueCapteurIR = (m_valueCapteurIR<<8) + data[1];
+ } else
+ m_valueCapteurIR = data[0];
+ }
+
+ flag.clear();
+ data.clear();
+ flag.append(1,7);
+ if(m_CtrlBridge->send(m_capteurProximiter[0],flag,data))
+ m_valueCapteurProximiter = data[0];
+}
+
+void Directive::analiseMaze(void)
+{
+ char areaLatt =0;
+ char areaVert =0;
+ string mymap = myMaze->showMap();
+ debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r Labyrinthe map: X:%02x Y:%02x \n\r",myMaze->getX(),myMaze->getY());
+ for(int i=0;i<3;i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i]);
+ debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
+ for(int i=0;i<3;i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+3]);
+ debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
+ for(int i=0;i<3;i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+6]);
+ debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
- }
- //////////////////////////////
- // Traitement du Labyrinthe //
- //////////////////////////////
+
+
+ if((ultrasonicToInch(m_valueCapteurUltrasonic)< 1) && (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80)) //capteur ultrasson embrouiller/imprecis
+ {
+ debug(DEBUG_DIRECTIVE_TEST,"\n\r -Capteur Ultrasson brouiller");
+ //addTableauDeCommande(6);
+ }
+ else if(ultrasonicToInch(m_valueCapteurUltrasonic) >=24) { //plus proche que 10pouce
+ debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche 2pi");
+ areaLatt =2;
+ areaVert =2;
+ }
+ else if(ultrasonicToInch(m_valueCapteurUltrasonic) >=12) { //plus proche que 10pouce
+ debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche 2pi");
+ areaLatt =1;
+ areaVert =1;
+ }
+ if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 60) {
+ debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR");
+ areaVert =2;
+ }
+ else if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 30) {
+ debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR");
+ areaVert =1;
+ }
+
- ///////////////
-// Mouvement //
-///////////////
- // ctrDesPattes.exec();
-////////////////////
-// Update memoire //
-////////////////////
-
-////////////
-// Autre? //
-////////////
- debug(DEBUG_DIRECTIVE_TEST,"\n\rOut task directive");
+ switch(myMaze->getDirection()){
+ case UP:
+ switch(areaVert)
+ {
+ case 0:
+ myMaze->setC_Up(MUR);
+ break;
+
+ case 1:
+ if(areaLatt == 0){
+ myMaze->setC_Up(MUR);
+ }
+ else if(areaLatt == 1){
+ myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()+1);
+ myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()+1);
+ myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()+1);
+
+ myMaze->setC(MUR,myMaze->getX(),myMaze->getY()+2);
+ }
+ else if(areaLatt == 2){
+
+ myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()+1);
+ myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()+1);
+ myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()+1);
+
+ myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()+2);
+ myMaze->setC(MUR,myMaze->getX(),myMaze->getY()+2);
+ myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()+2);
+ }
+ break;
+
+ case 2:
+ if(areaLatt == 0){
+ myMaze->setC_Up(MUR);
+ }
+ else if(areaLatt == 1){
+ myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()+1);//mur?
+ myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()+1);
+ myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()+1);//mur?
+
+ //myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()+1);//mur?
+ myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()+2);
+ //myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()+1);//mur?
+ }
+ else if(areaLatt == 2){
+
+ myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()+1);
+ myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()+1);
+ myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()+1);
+
+ myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()+2);
+ myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()+2);
+ myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()+2);
+ }
+ break;
+ }
+
+ break;
+
+ case DOWN:
+ switch(areaVert)
+ {
+ case 0:
+ myMaze->setC_Down(MUR);
+ break;
+
+ case 1:
+ if(areaLatt == 0){
+ myMaze->setC_Down(MUR);
+ }
+ else if(areaLatt == 1){
+ myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()-1);
+ myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()-1);
+ myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()-1);
+
+ myMaze->setC(MUR,myMaze->getX(),myMaze->getY()-2);
+ }
+ else if(areaLatt == 2){
+
+ myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()-1);
+ myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()-1);
+ myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()-1);
+
+ myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()-2);
+ myMaze->setC(MUR,myMaze->getX(),myMaze->getY()-2);
+ myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()-2);
+ }
+ break;
+
+ case 2:
+ if(areaLatt == 0){
+ myMaze->setC_Down(MUR);
+ }
+ else if(areaLatt == 1){
+ myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()-1);//mur?
+ myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()-1);
+ myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()-1);//mur?
+
+ //myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()+1);//mur?
+ myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()-2);
+ //myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()+1);//mur?
+ }
+ else if(areaLatt == 2){
+
+ myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()-1);
+ myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()-1);
+ myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()-1);
+
+ myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()-2);
+ myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()-2);
+ myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()-2);
+ }
+ break;
+ }
+ break;
+
+ case LEFT:
+ switch(areaVert)
+ {
+ case 0:
+ myMaze->setC_Left(MUR);
+ break;
+
+ case 1:
+ if(areaLatt == 0){
+ myMaze->setC_Left(MUR);
+ }
+ else if(areaLatt == 1){
+ myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()-1);
+ myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY());
+ myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()+1);
+
+ myMaze->setC(MUR,myMaze->getX()-2,myMaze->getY());
+ }
+ else if(areaLatt == 2){
+
+ myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()-1);
+ myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY());
+ myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()+1);
+
+ myMaze->setC(PAS_EXPLORER,myMaze->getX()-2,myMaze->getY()-1);
+ myMaze->setC(MUR,myMaze->getX()-2,myMaze->getY());
+ myMaze->setC(PAS_EXPLORER,myMaze->getX()-2,myMaze->getY()+1);
+ }
+ break;
+
+ case 2:
+ if(areaLatt == 0){
+ myMaze->setC_Left(MUR);
+ }
+ else if(areaLatt == 1){
+ myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()-1);//mur?
+ myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY());
+ myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()+1);//mur?
+
+ //myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()+1);//mur?
+ myMaze->setC(VIDE,myMaze->getX()-2,myMaze->getY());
+ //myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()+1);//mur?
+ }
+ else if(areaLatt == 2){
+
+ myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()-1);
+ myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY());
+ myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()+1);
+
+ myMaze->setC(VIDE,myMaze->getX()-2,myMaze->getY()+1);
+ myMaze->setC(VIDE,myMaze->getX()-2,myMaze->getY());
+ myMaze->setC(VIDE,myMaze->getX()-2,myMaze->getY()+1);
+ }
+ break;
+ }
+ break;
+
+ case RIGHT:
+ switch(areaVert)
+ {
+ case 0:
+ myMaze->setC_Right(MUR);
+ break;
+
+ case 1:
+ if(areaLatt == 0){
+ myMaze->setC_Right(MUR);
+ }
+ else if(areaLatt == 1){
+ myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()-1);
+ myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY());
+ myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()+1);
+
+ myMaze->setC(MUR,myMaze->getX()+2,myMaze->getY());
+ }
+ else if(areaLatt == 2){
+
+ myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()-1);
+ myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY());
+ myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()+1);
+
+ myMaze->setC(PAS_EXPLORER,myMaze->getX()+2,myMaze->getY()-1);
+ myMaze->setC(MUR,myMaze->getX()+2,myMaze->getY());
+ myMaze->setC(PAS_EXPLORER,myMaze->getX()+2,myMaze->getY()+1);
+ }
+ break;
+
+ case 2:
+ if(areaLatt == 0){
+ myMaze->setC_Right(MUR);
+ }
+ else if(areaLatt == 1){
+ myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()-1);//mur?
+ myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY());
+ myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()+1);//mur?
+
+ //myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()+1);//mur?
+ myMaze->setC(VIDE,myMaze->getX()+2,myMaze->getY());
+ //myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()+1);//mur?
+ }
+ else if(areaLatt == 2){
+
+ myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()-1);
+ myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY());
+ myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()+1);
+
+ myMaze->setC(VIDE,myMaze->getX()+2,myMaze->getY()+1);
+ myMaze->setC(VIDE,myMaze->getX()+2,myMaze->getY());
+ myMaze->setC(VIDE,myMaze->getX()+2,myMaze->getY()+1);
+ }
+ break;
+ }
+ break;
+ }
}
\ No newline at end of file