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:
- 31:ed23647fd16e
- Parent:
- 28:ac5c6350ed9a
- Child:
- 33:c8b4e5a392e6
--- a/directive.cpp Wed Aug 19 18:27:18 2015 +0000
+++ b/directive.cpp Mon Aug 31 13:36:39 2015 +0000
@@ -1,5 +1,6 @@
#include "directive.h"
+Serial pc(SERIAL_TX, SERIAL_RX);
int tabIR[12][2]= {
{80, 400},{50, 600},{40, 700},{30, 900},{25,1100},
{20,1300},{15,1600},{10,2400},{ 8,2700},{ 7,3000},
@@ -14,8 +15,8 @@
Directive::Directive():TTask(0)//on veux que cette tache sois exec toute les fois que TTaskGen sexecute.
{
/* initialize random seed: */
- srand (time(NULL));
-
+ srand (time(NULL));
+
myMaze->setDirection(UP);
//c=0;
ssc32 = new /*Serial*//*Raw*/Serial/*(USBTX, USBRX);*/(PB_6, PB_7);//(PA_9, PA_10);
@@ -32,7 +33,7 @@
//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);
@@ -58,7 +59,22 @@
getUp = false;
}
+
ctrDesPattes->calibre();
+
+ #ifdef DEBUG_BOOT_GRAPHICAL_INTERFACE
+ wait(2);
+ debug("\x1B[2J"); //clear screen
+ debug("\x1B[25l");//hide cursor
+ debug("\x1B[;H"); //cursor default position
+
+ //createSLbox(0,0,5,15,"Mode");
+ createDLbox(0,0,10,20,"Menu");//(1,12,10,20,"test2");
+ setText(1,3,"1) BrainControle");
+ setText(1,4,"2) Show Maze");
+ //createDLbox(16,0,5,15,"Stage");
+
+ #endif
}
Directive::~Directive()
{
@@ -67,11 +83,39 @@
delete ctrDesPattes;
if(ssc32)
delete ssc32;
- if(myMaze)
+ if(myMaze)
delete myMaze;
}
void Directive::task(void)//ALL CODE HERE//
{
+
+ #ifdef DEBUG_BOOT_GRAPHICAL_INTERFACE
+ if(pc.readable()){
+
+ debug("\x1B[2J"); //clear screen
+ debug("\x1B[25l");//hide cursor
+ debug("\x1B[;H"); //cursor default position
+
+
+ int idCommand;
+
+ idCommand = fgetc(pc) - '0';
+ switch(idCommand)
+ {
+ case 1:
+ createDLbox(0,0,10,25,"BrainControle");
+ setText(1,3,"1) Move Up");
+ setText(1,4,"2) Move Down");
+ setText(1,5,"2) Move Left");
+ setText(1,6,"2) Move Right");
+ break;
+
+ case 2:
+ createDLbox(0,0,10,20,"Show Maze");
+ break;
+ }
+ }
+ #endif
//debug(DEBUG_DIRECTIVE_TEST,"\n\rIn task directive");
if(ctrDesPattes->isSeqComplet()) {
if((tableauDeCommange[0] == 6) && (size_tableauDeCommange == 1)) {
@@ -102,7 +146,7 @@
debug("\n\r flag: %d",flag[0]);
debug("\n\r data: %x",data[0]);
}*/
- #ifndef BACKUP
+#ifndef BACKUP
updateModuleValue();
//////////////////////////////
@@ -111,86 +155,80 @@
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(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 )
- {
+
+ switch(nextCase ) {
case VIDE:
- debug(DEBUG_DIRECTIVE_TEST," Javance");
+ debug(DEBUG_DIRECTIVE_TEST," Javance");
addTableauDeCommande(6);
- break;
-
- case EXPLORER:// ici pt amiliorer
- debug(DEBUG_DIRECTIVE_TEST," Javance");
+ 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 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;
}
- 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
+
+#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) {
@@ -207,8 +245,8 @@
} else {
debug(DEBUG_DIRECTIVE_TEST,"\n\r -Nothing:");
addTableauDeCommande(6);
-
-
+
+
int randomNbr = rand() % 4;
switch(randomNbr)
{
@@ -228,11 +266,11 @@
debug(DEBUG_DIRECTIVE_TEST," Jattend");
break;
}
-
-
+
+
//addTableauDeCommande(6);
}*/
- #endif
+#endif
///////////////
// Mouvement //
///////////////
@@ -379,268 +417,244 @@
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]);
+ 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]);
+ 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]);
+ for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+6]);
debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
-
-
-
- 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;
- }
-
-
- switch(myMaze->getDirection()){
+
+
+
+ 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;
+ }
+
+
+ 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;
+ 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;
+
+ 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;
+
+ 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);
- }
+
+ 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;
-
- 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