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@28:ac5c6350ed9a, 2015-07-28 (annotated)
- Committer:
- salco
- Date:
- Tue Jul 28 01:22:16 2015 +0000
- Revision:
- 28:ac5c6350ed9a
- Parent:
- 27:ea60d12dccdf
- Child:
- 31:ed23647fd16e
tsest
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 | 28:ac5c6350ed9a | 3 | int tabIR[12][2]= { |
salco | 28:ac5c6350ed9a | 4 | {80, 400},{50, 600},{40, 700},{30, 900},{25,1100}, |
salco | 28:ac5c6350ed9a | 5 | {20,1300},{15,1600},{10,2400},{ 8,2700},{ 7,3000}, |
salco | 28:ac5c6350ed9a | 6 | { 6,3200},{ 5,3100} |
salco | 28:ac5c6350ed9a | 7 | }; |
salco | 28:ac5c6350ed9a | 8 | |
salco | 28:ac5c6350ed9a | 9 | |
salco | 28:ac5c6350ed9a | 10 | |
salco | 28:ac5c6350ed9a | 11 | |
salco | 28:ac5c6350ed9a | 12 | |
salco | 2:4c5b0f6d0a6b | 13 | |
salco | 2:4c5b0f6d0a6b | 14 | Directive::Directive():TTask(0)//on veux que cette tache sois exec toute les fois que TTaskGen sexecute. |
salco | 2:4c5b0f6d0a6b | 15 | { |
salco | 28:ac5c6350ed9a | 16 | /* initialize random seed: */ |
salco | 28:ac5c6350ed9a | 17 | srand (time(NULL)); |
salco | 28:ac5c6350ed9a | 18 | |
salco | 28:ac5c6350ed9a | 19 | myMaze->setDirection(UP); |
salco | 28:ac5c6350ed9a | 20 | //c=0; |
salco | 27:ea60d12dccdf | 21 | ssc32 = new /*Serial*//*Raw*/Serial/*(USBTX, USBRX);*/(PB_6, PB_7);//(PA_9, PA_10); |
salco | 27:ea60d12dccdf | 22 | ctrDesPattes = new Faculter_motrice(ssc32/*pc*/); |
salco | 28:ac5c6350ed9a | 23 | m_valueCapteurUltrasonic = 0; |
salco | 28:ac5c6350ed9a | 24 | m_valueCapteurIR = 0; |
salco | 28:ac5c6350ed9a | 25 | m_valueCapteurProximiter = 0; |
salco | 28:ac5c6350ed9a | 26 | for(int i =0; i<10; i++)tableauDeCommange[i]= 0; |
salco | 28:ac5c6350ed9a | 27 | size_tableauDeCommange=0; |
salco | 28:ac5c6350ed9a | 28 | myMaze->setC(EXPLORER,C5); |
salco | 19:0ac80045ba4c | 29 | //m_CtrlBridge = m_CtrlBridge->getInstance(); |
salco | 19:0ac80045ba4c | 30 | //a enlever de commentaire//m_ListDesModules = m_CtrlBridge->findModule(0,1,0,0); |
salco | 27:ea60d12dccdf | 31 | |
salco | 27:ea60d12dccdf | 32 | //Serial pc(USBTX, USBRX); |
salco | 27:ea60d12dccdf | 33 | |
salco | 27:ea60d12dccdf | 34 | //ssc32->set_flow_control(0); |
salco | 28:ac5c6350ed9a | 35 | |
salco | 28:ac5c6350ed9a | 36 | myMaze = new Labyrinthe(); |
salco | 27:ea60d12dccdf | 37 | debug("\n\r directive Init");//printf("Hello World\n"); |
salco | 27:ea60d12dccdf | 38 | m_ListDesModules = m_CtrlBridge->findModule(0,CAPTEUR,DISTANCE,0); |
salco | 27:ea60d12dccdf | 39 | m_ListDesModules.append(m_CtrlBridge->findModule(0,CAPTEUR,PROXIMITEE,0)); |
salco | 28:ac5c6350ed9a | 40 | |
salco | 27:ea60d12dccdf | 41 | m_capteurUltrasonic= m_CtrlBridge->findModule(0,CAPTEUR,ULTRASONIQUE,0x27/*0b100111*/); |
salco | 28:ac5c6350ed9a | 42 | if(!(m_capteurUltrasonic.empty()))debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurUltrasonic found"); |
salco | 28:ac5c6350ed9a | 43 | else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurUltrasonic not found"); |
salco | 27:ea60d12dccdf | 44 | m_capteurIR= m_CtrlBridge->findModule(0,CAPTEUR,DISTANCE,0x27/*0b100111*/); |
salco | 28:ac5c6350ed9a | 45 | if(!(m_capteurIR.empty()))debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurIR found"); |
salco | 28:ac5c6350ed9a | 46 | else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurIR not found"); |
salco | 27:ea60d12dccdf | 47 | m_capteurProximiter= m_CtrlBridge->findModule(0,CAPTEUR,PROXIMITEE,0x0E/*0b001110*/); |
salco | 28:ac5c6350ed9a | 48 | if(!(m_capteurProximiter.empty()))debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurProximiter found"); |
salco | 28:ac5c6350ed9a | 49 | else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurProximiter not found"); |
salco | 28:ac5c6350ed9a | 50 | |
salco | 28:ac5c6350ed9a | 51 | ctrDesPattes->moveUp(); |
salco | 28:ac5c6350ed9a | 52 | |
salco | 28:ac5c6350ed9a | 53 | bool getUp=true; |
salco | 28:ac5c6350ed9a | 54 | while((getUp)&& (! ctrDesPattes->isSeqComplet())) { |
salco | 28:ac5c6350ed9a | 55 | ctrDesPattes->exec(); |
salco | 28:ac5c6350ed9a | 56 | |
salco | 28:ac5c6350ed9a | 57 | if(ctrDesPattes->get_idFrame() >= 5) |
salco | 28:ac5c6350ed9a | 58 | getUp = false; |
salco | 28:ac5c6350ed9a | 59 | |
salco | 28:ac5c6350ed9a | 60 | } |
salco | 28:ac5c6350ed9a | 61 | ctrDesPattes->calibre(); |
salco | 2:4c5b0f6d0a6b | 62 | } |
salco | 2:4c5b0f6d0a6b | 63 | Directive::~Directive() |
salco | 2:4c5b0f6d0a6b | 64 | { |
salco | 11:496453b45e25 | 65 | |
salco | 3:e0d6e081a9d3 | 66 | if(ctrDesPattes) |
salco | 3:e0d6e081a9d3 | 67 | delete ctrDesPattes; |
salco | 19:0ac80045ba4c | 68 | if(ssc32) |
salco | 19:0ac80045ba4c | 69 | delete ssc32; |
salco | 28:ac5c6350ed9a | 70 | if(myMaze) |
salco | 28:ac5c6350ed9a | 71 | delete myMaze; |
salco | 2:4c5b0f6d0a6b | 72 | } |
salco | 3:e0d6e081a9d3 | 73 | void Directive::task(void)//ALL CODE HERE// |
salco | 2:4c5b0f6d0a6b | 74 | { |
salco | 28:ac5c6350ed9a | 75 | //debug(DEBUG_DIRECTIVE_TEST,"\n\rIn task directive"); |
salco | 28:ac5c6350ed9a | 76 | if(ctrDesPattes->isSeqComplet()) { |
salco | 28:ac5c6350ed9a | 77 | if((tableauDeCommange[0] == 6) && (size_tableauDeCommange == 1)) { |
salco | 28:ac5c6350ed9a | 78 | //addTableauDeCommande(0x81); |
salco | 28:ac5c6350ed9a | 79 | //addTableauDeCommande(0x82); |
salco | 28:ac5c6350ed9a | 80 | //mabey//addTableauDeCommande(0x83); |
salco | 28:ac5c6350ed9a | 81 | addTableauDeCommande(0x84); |
salco | 28:ac5c6350ed9a | 82 | |
salco | 28:ac5c6350ed9a | 83 | //addTableauDeCommande(0x85); |
salco | 28:ac5c6350ed9a | 84 | //mabey//addTableauDeCommande(0x86); |
salco | 28:ac5c6350ed9a | 85 | addTableauDeCommande(0x87); |
salco | 28:ac5c6350ed9a | 86 | addTableauDeCommande(0x88); |
salco | 28:ac5c6350ed9a | 87 | } |
salco | 28:ac5c6350ed9a | 88 | if(tableauDeCommange[0] == 0) { |
salco | 28:ac5c6350ed9a | 89 | //pas sur que c'Est tout ce qui doit etre ici mais je vois pas quoi d'autre pour le moment. |
salco | 28:ac5c6350ed9a | 90 | |
salco | 28:ac5c6350ed9a | 91 | //////////////// |
salco | 28:ac5c6350ed9a | 92 | // Inspection // |
salco | 28:ac5c6350ed9a | 93 | //////////////// |
salco | 28:ac5c6350ed9a | 94 | //flag.append(1,0);//0x02); |
salco | 28:ac5c6350ed9a | 95 | /*for(int i=0; i<m_ListDesModules.length(); ++i) { |
salco | 28:ac5c6350ed9a | 96 | wait_us(300); |
salco | 28:ac5c6350ed9a | 97 | flag.clear(); |
salco | 28:ac5c6350ed9a | 98 | flag.append(1,7); |
salco | 28:ac5c6350ed9a | 99 | data.clear(); |
salco | 28:ac5c6350ed9a | 100 | debug("\n\r result: %d",m_CtrlBridge->send(m_ListDesModules.at(i),flag,data)); |
salco | 28:ac5c6350ed9a | 101 | |
salco | 28:ac5c6350ed9a | 102 | debug("\n\r flag: %d",flag[0]); |
salco | 28:ac5c6350ed9a | 103 | debug("\n\r data: %x",data[0]); |
salco | 28:ac5c6350ed9a | 104 | }*/ |
salco | 28:ac5c6350ed9a | 105 | #ifndef BACKUP |
salco | 28:ac5c6350ed9a | 106 | updateModuleValue(); |
salco | 28:ac5c6350ed9a | 107 | |
salco | 28:ac5c6350ed9a | 108 | ////////////////////////////// |
salco | 28:ac5c6350ed9a | 109 | // Traitement du Labyrinthe // |
salco | 28:ac5c6350ed9a | 110 | ////////////////////////////// |
salco | 28:ac5c6350ed9a | 111 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -IRToCm(%02f): %02f",ADCTomv(m_valueCapteurIR),IRToCm(ADCTomv(m_valueCapteurIR))); |
salco | 28:ac5c6350ed9a | 112 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -ultrasonicToInch: %02f",ultrasonicToInch(m_valueCapteurUltrasonic)); |
salco | 28:ac5c6350ed9a | 113 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -m_valueCapteurProximiter: %02d",m_valueCapteurProximiter); |
salco | 28:ac5c6350ed9a | 114 | |
salco | 28:ac5c6350ed9a | 115 | analiseMaze(); |
salco | 28:ac5c6350ed9a | 116 | char nextCase=0; |
salco | 28:ac5c6350ed9a | 117 | switch(myMaze->getDirection()) |
salco | 28:ac5c6350ed9a | 118 | { |
salco | 28:ac5c6350ed9a | 119 | case UP: |
salco | 28:ac5c6350ed9a | 120 | nextCase = myMaze->getC(myMaze->getX(),myMaze->getY()+1); |
salco | 28:ac5c6350ed9a | 121 | break; |
salco | 28:ac5c6350ed9a | 122 | |
salco | 28:ac5c6350ed9a | 123 | case DOWN: |
salco | 28:ac5c6350ed9a | 124 | nextCase = myMaze->getC(myMaze->getX(),myMaze->getY()-1); |
salco | 28:ac5c6350ed9a | 125 | break; |
salco | 28:ac5c6350ed9a | 126 | |
salco | 28:ac5c6350ed9a | 127 | case LEFT: |
salco | 28:ac5c6350ed9a | 128 | nextCase = myMaze->getC(myMaze->getX()-1,myMaze->getY()); |
salco | 28:ac5c6350ed9a | 129 | break; |
salco | 28:ac5c6350ed9a | 130 | |
salco | 28:ac5c6350ed9a | 131 | case RIGHT: |
salco | 28:ac5c6350ed9a | 132 | nextCase = myMaze->getC(myMaze->getX()+1,myMaze->getY()); |
salco | 28:ac5c6350ed9a | 133 | break; |
salco | 28:ac5c6350ed9a | 134 | } |
salco | 28:ac5c6350ed9a | 135 | |
salco | 28:ac5c6350ed9a | 136 | switch(nextCase ) |
salco | 28:ac5c6350ed9a | 137 | { |
salco | 28:ac5c6350ed9a | 138 | case VIDE: |
salco | 28:ac5c6350ed9a | 139 | debug(DEBUG_DIRECTIVE_TEST," Javance"); |
salco | 28:ac5c6350ed9a | 140 | addTableauDeCommande(6); |
salco | 28:ac5c6350ed9a | 141 | break; |
salco | 28:ac5c6350ed9a | 142 | |
salco | 28:ac5c6350ed9a | 143 | case EXPLORER:// ici pt amiliorer |
salco | 28:ac5c6350ed9a | 144 | debug(DEBUG_DIRECTIVE_TEST," Javance"); |
salco | 28:ac5c6350ed9a | 145 | addTableauDeCommande(6); |
salco | 28:ac5c6350ed9a | 146 | break; |
salco | 28:ac5c6350ed9a | 147 | |
salco | 28:ac5c6350ed9a | 148 | case MUR: |
salco | 28:ac5c6350ed9a | 149 | |
salco | 28:ac5c6350ed9a | 150 | switch(myMaze->getDirection()) |
salco | 28:ac5c6350ed9a | 151 | { |
salco | 28:ac5c6350ed9a | 152 | case UP: |
salco | 28:ac5c6350ed9a | 153 | if(rand()%1){ |
salco | 28:ac5c6350ed9a | 154 | nextCase = myMaze->getC(myMaze->getX()-1,myMaze->getY()); |
salco | 28:ac5c6350ed9a | 155 | if(nextCase != MUR) |
salco | 28:ac5c6350ed9a | 156 | { |
salco | 28:ac5c6350ed9a | 157 | |
salco | 28:ac5c6350ed9a | 158 | } |
salco | 28:ac5c6350ed9a | 159 | nextCase = myMaze->getC(myMaze->getX()+1,myMaze->getY()); |
salco | 28:ac5c6350ed9a | 160 | } |
salco | 28:ac5c6350ed9a | 161 | else{ |
salco | 28:ac5c6350ed9a | 162 | nextCase = myMaze->getC(myMaze->getX()+1,myMaze->getY()+1); |
salco | 28:ac5c6350ed9a | 163 | } |
salco | 28:ac5c6350ed9a | 164 | break; |
salco | 28:ac5c6350ed9a | 165 | |
salco | 28:ac5c6350ed9a | 166 | case DOWN: |
salco | 28:ac5c6350ed9a | 167 | nextCase = myMaze->getC(myMaze->getX(),myMaze->getY()-1); |
salco | 28:ac5c6350ed9a | 168 | break; |
salco | 28:ac5c6350ed9a | 169 | |
salco | 28:ac5c6350ed9a | 170 | case LEFT: |
salco | 28:ac5c6350ed9a | 171 | nextCase = myMaze->getC(myMaze->getX()-1,myMaze->getY()); |
salco | 28:ac5c6350ed9a | 172 | break; |
salco | 28:ac5c6350ed9a | 173 | |
salco | 28:ac5c6350ed9a | 174 | case RIGHT: |
salco | 28:ac5c6350ed9a | 175 | nextCase = myMaze->getC(myMaze->getX()+1,myMaze->getY()); |
salco | 28:ac5c6350ed9a | 176 | break; |
salco | 28:ac5c6350ed9a | 177 | } |
salco | 28:ac5c6350ed9a | 178 | |
salco | 28:ac5c6350ed9a | 179 | break; |
salco | 28:ac5c6350ed9a | 180 | |
salco | 28:ac5c6350ed9a | 181 | case PAS_EXPLORER: |
salco | 28:ac5c6350ed9a | 182 | debug(DEBUG_DIRECTIVE_TEST," Javance"); |
salco | 28:ac5c6350ed9a | 183 | addTableauDeCommande(6); |
salco | 28:ac5c6350ed9a | 184 | break; |
salco | 28:ac5c6350ed9a | 185 | } |
salco | 28:ac5c6350ed9a | 186 | |
salco | 28:ac5c6350ed9a | 187 | #endif |
salco | 28:ac5c6350ed9a | 188 | #if BACKUP |
salco | 28:ac5c6350ed9a | 189 | /*if((ultrasonicToInch(m_valueCapteurUltrasonic)< 1) && (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80)) //capteur ultrasson embrouiller/imprecis |
salco | 28:ac5c6350ed9a | 190 | { |
salco | 28:ac5c6350ed9a | 191 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Capteur Ultrasson brouiller"); |
salco | 28:ac5c6350ed9a | 192 | addTableauDeCommande(6); |
salco | 28:ac5c6350ed9a | 193 | } |
salco | 28:ac5c6350ed9a | 194 | else if(ultrasonicToInch(m_valueCapteurUltrasonic) < 10) { //plus proche que 10pouce |
salco | 28:ac5c6350ed9a | 195 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche"); |
salco | 28:ac5c6350ed9a | 196 | if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 10) { |
salco | 28:ac5c6350ed9a | 197 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR"); |
salco | 28:ac5c6350ed9a | 198 | addTableauDeCommande(7); |
salco | 28:ac5c6350ed9a | 199 | |
salco | 19:0ac80045ba4c | 200 | |
salco | 28:ac5c6350ed9a | 201 | //ici potentielle scaning |
salco | 28:ac5c6350ed9a | 202 | } else { |
salco | 28:ac5c6350ed9a | 203 | addTableauDeCommande(4); |
salco | 28:ac5c6350ed9a | 204 | addTableauDeCommande(4); |
salco | 28:ac5c6350ed9a | 205 | addTableauDeCommande(4); |
salco | 28:ac5c6350ed9a | 206 | } |
salco | 28:ac5c6350ed9a | 207 | } else { |
salco | 28:ac5c6350ed9a | 208 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Nothing:"); |
salco | 28:ac5c6350ed9a | 209 | addTableauDeCommande(6); |
salco | 28:ac5c6350ed9a | 210 | |
salco | 28:ac5c6350ed9a | 211 | |
salco | 28:ac5c6350ed9a | 212 | int randomNbr = rand() % 4; |
salco | 28:ac5c6350ed9a | 213 | switch(randomNbr) |
salco | 28:ac5c6350ed9a | 214 | { |
salco | 28:ac5c6350ed9a | 215 | case 1: |
salco | 28:ac5c6350ed9a | 216 | debug(DEBUG_DIRECTIVE_TEST," Javance"); |
salco | 28:ac5c6350ed9a | 217 | addTableauDeCommande(6); |
salco | 28:ac5c6350ed9a | 218 | break; |
salco | 28:ac5c6350ed9a | 219 | case 2: |
salco | 28:ac5c6350ed9a | 220 | debug(DEBUG_DIRECTIVE_TEST," Je tourne a gauche"); |
salco | 28:ac5c6350ed9a | 221 | addTableauDeCommande(4); |
salco | 28:ac5c6350ed9a | 222 | break; |
salco | 28:ac5c6350ed9a | 223 | case 3: |
salco | 28:ac5c6350ed9a | 224 | debug(DEBUG_DIRECTIVE_TEST," Je tourne a droite"); |
salco | 28:ac5c6350ed9a | 225 | addTableauDeCommande(5); |
salco | 28:ac5c6350ed9a | 226 | break; |
salco | 28:ac5c6350ed9a | 227 | default: |
salco | 28:ac5c6350ed9a | 228 | debug(DEBUG_DIRECTIVE_TEST," Jattend"); |
salco | 28:ac5c6350ed9a | 229 | break; |
salco | 28:ac5c6350ed9a | 230 | } |
salco | 28:ac5c6350ed9a | 231 | |
salco | 28:ac5c6350ed9a | 232 | |
salco | 28:ac5c6350ed9a | 233 | //addTableauDeCommande(6); |
salco | 28:ac5c6350ed9a | 234 | }*/ |
salco | 28:ac5c6350ed9a | 235 | #endif |
salco | 28:ac5c6350ed9a | 236 | /////////////// |
salco | 28:ac5c6350ed9a | 237 | // Mouvement // |
salco | 28:ac5c6350ed9a | 238 | /////////////// |
salco | 28:ac5c6350ed9a | 239 | } else { |
salco | 28:ac5c6350ed9a | 240 | switch(tableauDeCommange[0]) { |
salco | 28:ac5c6350ed9a | 241 | case 11: |
salco | 28:ac5c6350ed9a | 242 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_calibre"); |
salco | 28:ac5c6350ed9a | 243 | ctrDesPattes->calibre(); |
salco | 28:ac5c6350ed9a | 244 | break; |
salco | 28:ac5c6350ed9a | 245 | case 2: |
salco | 28:ac5c6350ed9a | 246 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveUp"); |
salco | 28:ac5c6350ed9a | 247 | ctrDesPattes->moveUp(); |
salco | 28:ac5c6350ed9a | 248 | break; |
salco | 28:ac5c6350ed9a | 249 | case 3: |
salco | 28:ac5c6350ed9a | 250 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveDown"); |
salco | 28:ac5c6350ed9a | 251 | ctrDesPattes->moveDown(); |
salco | 28:ac5c6350ed9a | 252 | break; |
salco | 28:ac5c6350ed9a | 253 | case 4: |
salco | 28:ac5c6350ed9a | 254 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_turnLeft"); |
salco | 28:ac5c6350ed9a | 255 | ctrDesPattes->turnLeft(); |
salco | 28:ac5c6350ed9a | 256 | break; |
salco | 28:ac5c6350ed9a | 257 | case 5: |
salco | 28:ac5c6350ed9a | 258 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_trunRight"); |
salco | 28:ac5c6350ed9a | 259 | ctrDesPattes->trunRight(); |
salco | 28:ac5c6350ed9a | 260 | break; |
salco | 28:ac5c6350ed9a | 261 | case 6: |
salco | 28:ac5c6350ed9a | 262 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveFront"); |
salco | 28:ac5c6350ed9a | 263 | ctrDesPattes->moveFront(); |
salco | 28:ac5c6350ed9a | 264 | break; |
salco | 28:ac5c6350ed9a | 265 | case 7: |
salco | 28:ac5c6350ed9a | 266 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveBack"); |
salco | 28:ac5c6350ed9a | 267 | ctrDesPattes->moveBack(); |
salco | 28:ac5c6350ed9a | 268 | break; |
salco | 28:ac5c6350ed9a | 269 | /*case 8: |
salco | 28:ac5c6350ed9a | 270 | ctrDesPattes->moveBack(); |
salco | 28:ac5c6350ed9a | 271 | break;*/ |
salco | 28:ac5c6350ed9a | 272 | case 0x81: |
salco | 28:ac5c6350ed9a | 273 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 1"); |
salco | 28:ac5c6350ed9a | 274 | ctrDesPattes->repositioner(1); |
salco | 28:ac5c6350ed9a | 275 | break; |
salco | 28:ac5c6350ed9a | 276 | case 0x82: |
salco | 28:ac5c6350ed9a | 277 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 2"); |
salco | 28:ac5c6350ed9a | 278 | ctrDesPattes->repositioner(2); |
salco | 28:ac5c6350ed9a | 279 | break; |
salco | 28:ac5c6350ed9a | 280 | case 0x83: |
salco | 28:ac5c6350ed9a | 281 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 3"); |
salco | 28:ac5c6350ed9a | 282 | ctrDesPattes->repositioner(3); |
salco | 28:ac5c6350ed9a | 283 | break; |
salco | 28:ac5c6350ed9a | 284 | case 0x84: |
salco | 28:ac5c6350ed9a | 285 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 4"); |
salco | 28:ac5c6350ed9a | 286 | ctrDesPattes->repositioner(4); |
salco | 28:ac5c6350ed9a | 287 | break; |
salco | 28:ac5c6350ed9a | 288 | case 0x85: |
salco | 28:ac5c6350ed9a | 289 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 5"); |
salco | 28:ac5c6350ed9a | 290 | ctrDesPattes->repositioner(5); |
salco | 28:ac5c6350ed9a | 291 | break; |
salco | 28:ac5c6350ed9a | 292 | case 0x86: |
salco | 28:ac5c6350ed9a | 293 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 6"); |
salco | 28:ac5c6350ed9a | 294 | ctrDesPattes->repositioner(6); |
salco | 28:ac5c6350ed9a | 295 | break; |
salco | 28:ac5c6350ed9a | 296 | case 0x87: |
salco | 28:ac5c6350ed9a | 297 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 7"); |
salco | 28:ac5c6350ed9a | 298 | ctrDesPattes->repositioner(7); |
salco | 28:ac5c6350ed9a | 299 | break; |
salco | 28:ac5c6350ed9a | 300 | case 0x88: |
salco | 28:ac5c6350ed9a | 301 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 8"); |
salco | 28:ac5c6350ed9a | 302 | ctrDesPattes->repositioner(8); |
salco | 28:ac5c6350ed9a | 303 | break; |
salco | 28:ac5c6350ed9a | 304 | } |
salco | 28:ac5c6350ed9a | 305 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -TAB:"); |
salco | 28:ac5c6350ed9a | 306 | for(int i =0; i<10; i++) debug(DEBUG_DIRECTIVE_TEST,"[%02x]",tableauDeCommange[i]); |
salco | 28:ac5c6350ed9a | 307 | for(int i =0; i<9; i++)tableauDeCommange[i]= tableauDeCommange[i+1]; |
salco | 28:ac5c6350ed9a | 308 | tableauDeCommange[9]=0; |
salco | 28:ac5c6350ed9a | 309 | if(size_tableauDeCommange != 0) size_tableauDeCommange--; |
salco | 28:ac5c6350ed9a | 310 | } |
salco | 28:ac5c6350ed9a | 311 | } else { |
salco | 28:ac5c6350ed9a | 312 | ctrDesPattes->exec(); |
salco | 28:ac5c6350ed9a | 313 | } |
salco | 28:ac5c6350ed9a | 314 | //////////////////// |
salco | 28:ac5c6350ed9a | 315 | // Update memoire // |
salco | 28:ac5c6350ed9a | 316 | //////////////////// |
salco | 28:ac5c6350ed9a | 317 | |
salco | 28:ac5c6350ed9a | 318 | //////////// |
salco | 28:ac5c6350ed9a | 319 | // Autre? // |
salco | 28:ac5c6350ed9a | 320 | //////////// |
salco | 28:ac5c6350ed9a | 321 | |
salco | 28:ac5c6350ed9a | 322 | |
salco | 28:ac5c6350ed9a | 323 | //debug(DEBUG_DIRECTIVE_TEST,"\n\rOut task directive"); |
salco | 28:ac5c6350ed9a | 324 | } |
salco | 28:ac5c6350ed9a | 325 | double Directive::IRToCm (double miliVolt) |
salco | 28:ac5c6350ed9a | 326 | { |
salco | 28:ac5c6350ed9a | 327 | double result=0; |
salco | 28:ac5c6350ed9a | 328 | |
salco | 28:ac5c6350ed9a | 329 | if(miliVolt < tabIR[0][1])result = tabIR[0][0]; |
salco | 28:ac5c6350ed9a | 330 | else if(miliVolt > tabIR[11][1])result = tabIR[11][0]; |
salco | 28:ac5c6350ed9a | 331 | |
salco | 28:ac5c6350ed9a | 332 | for(int i =1; (result==0)&&(i<12); i++) { |
salco | 28:ac5c6350ed9a | 333 | if((tabIR[i-1][1]<=miliVolt) && (tabIR[i][1]>miliVolt)) { |
salco | 28:ac5c6350ed9a | 334 | 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 | 335 | } |
salco | 28:ac5c6350ed9a | 336 | } |
salco | 28:ac5c6350ed9a | 337 | return result; |
salco | 28:ac5c6350ed9a | 338 | } |
salco | 28:ac5c6350ed9a | 339 | void Directive::addTableauDeCommande(unsigned char value) |
salco | 28:ac5c6350ed9a | 340 | { |
salco | 28:ac5c6350ed9a | 341 | if(size_tableauDeCommange!=10) { |
salco | 28:ac5c6350ed9a | 342 | tableauDeCommange[size_tableauDeCommange]=value; |
salco | 28:ac5c6350ed9a | 343 | size_tableauDeCommange++; |
salco | 28:ac5c6350ed9a | 344 | |
salco | 28:ac5c6350ed9a | 345 | } |
salco | 28:ac5c6350ed9a | 346 | } |
salco | 28:ac5c6350ed9a | 347 | |
salco | 28:ac5c6350ed9a | 348 | void Directive::updateModuleValue(void) |
salco | 28:ac5c6350ed9a | 349 | { |
salco | 28:ac5c6350ed9a | 350 | string flag,data; |
salco | 28:ac5c6350ed9a | 351 | flag.clear(); |
salco | 28:ac5c6350ed9a | 352 | data.clear(); |
salco | 28:ac5c6350ed9a | 353 | flag.append(1,7); |
salco | 28:ac5c6350ed9a | 354 | if(m_CtrlBridge->send(m_capteurUltrasonic[0],flag,data)) |
salco | 28:ac5c6350ed9a | 355 | m_valueCapteurUltrasonic = data[0]; |
salco | 28:ac5c6350ed9a | 356 | |
salco | 28:ac5c6350ed9a | 357 | |
salco | 28:ac5c6350ed9a | 358 | flag.clear(); |
salco | 28:ac5c6350ed9a | 359 | data.clear(); |
salco | 28:ac5c6350ed9a | 360 | flag.append(1,7); |
salco | 28:ac5c6350ed9a | 361 | if(m_CtrlBridge->send(m_capteurIR[0],flag,data)) { |
salco | 28:ac5c6350ed9a | 362 | if(data.size() == 2) { |
salco | 28:ac5c6350ed9a | 363 | m_valueCapteurIR = data[0]; |
salco | 28:ac5c6350ed9a | 364 | m_valueCapteurIR = (m_valueCapteurIR<<8) + data[1]; |
salco | 28:ac5c6350ed9a | 365 | } else |
salco | 28:ac5c6350ed9a | 366 | m_valueCapteurIR = data[0]; |
salco | 28:ac5c6350ed9a | 367 | } |
salco | 28:ac5c6350ed9a | 368 | |
salco | 28:ac5c6350ed9a | 369 | flag.clear(); |
salco | 28:ac5c6350ed9a | 370 | data.clear(); |
salco | 28:ac5c6350ed9a | 371 | flag.append(1,7); |
salco | 28:ac5c6350ed9a | 372 | if(m_CtrlBridge->send(m_capteurProximiter[0],flag,data)) |
salco | 28:ac5c6350ed9a | 373 | m_valueCapteurProximiter = data[0]; |
salco | 28:ac5c6350ed9a | 374 | } |
salco | 28:ac5c6350ed9a | 375 | |
salco | 28:ac5c6350ed9a | 376 | void Directive::analiseMaze(void) |
salco | 28:ac5c6350ed9a | 377 | { |
salco | 28:ac5c6350ed9a | 378 | char areaLatt =0; |
salco | 28:ac5c6350ed9a | 379 | char areaVert =0; |
salco | 28:ac5c6350ed9a | 380 | string mymap = myMaze->showMap(); |
salco | 28:ac5c6350ed9a | 381 | debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r Labyrinthe map: X:%02x Y:%02x \n\r",myMaze->getX(),myMaze->getY()); |
salco | 28:ac5c6350ed9a | 382 | for(int i=0;i<3;i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i]); |
salco | 28:ac5c6350ed9a | 383 | debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r"); |
salco | 28:ac5c6350ed9a | 384 | for(int i=0;i<3;i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+3]); |
salco | 28:ac5c6350ed9a | 385 | debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r"); |
salco | 28:ac5c6350ed9a | 386 | for(int i=0;i<3;i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+6]); |
salco | 28:ac5c6350ed9a | 387 | debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r"); |
salco | 27:ea60d12dccdf | 388 | |
salco | 28:ac5c6350ed9a | 389 | |
salco | 28:ac5c6350ed9a | 390 | |
salco | 28:ac5c6350ed9a | 391 | if((ultrasonicToInch(m_valueCapteurUltrasonic)< 1) && (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80)) //capteur ultrasson embrouiller/imprecis |
salco | 28:ac5c6350ed9a | 392 | { |
salco | 28:ac5c6350ed9a | 393 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Capteur Ultrasson brouiller"); |
salco | 28:ac5c6350ed9a | 394 | //addTableauDeCommande(6); |
salco | 28:ac5c6350ed9a | 395 | } |
salco | 28:ac5c6350ed9a | 396 | else if(ultrasonicToInch(m_valueCapteurUltrasonic) >=24) { //plus proche que 10pouce |
salco | 28:ac5c6350ed9a | 397 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche 2pi"); |
salco | 28:ac5c6350ed9a | 398 | areaLatt =2; |
salco | 28:ac5c6350ed9a | 399 | areaVert =2; |
salco | 28:ac5c6350ed9a | 400 | } |
salco | 28:ac5c6350ed9a | 401 | else if(ultrasonicToInch(m_valueCapteurUltrasonic) >=12) { //plus proche que 10pouce |
salco | 28:ac5c6350ed9a | 402 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche 2pi"); |
salco | 28:ac5c6350ed9a | 403 | areaLatt =1; |
salco | 28:ac5c6350ed9a | 404 | areaVert =1; |
salco | 28:ac5c6350ed9a | 405 | } |
salco | 28:ac5c6350ed9a | 406 | if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 60) { |
salco | 28:ac5c6350ed9a | 407 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR"); |
salco | 28:ac5c6350ed9a | 408 | areaVert =2; |
salco | 28:ac5c6350ed9a | 409 | } |
salco | 28:ac5c6350ed9a | 410 | else if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 30) { |
salco | 28:ac5c6350ed9a | 411 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR"); |
salco | 28:ac5c6350ed9a | 412 | areaVert =1; |
salco | 28:ac5c6350ed9a | 413 | } |
salco | 28:ac5c6350ed9a | 414 | |
salco | 27:ea60d12dccdf | 415 | |
salco | 28:ac5c6350ed9a | 416 | switch(myMaze->getDirection()){ |
salco | 28:ac5c6350ed9a | 417 | case UP: |
salco | 28:ac5c6350ed9a | 418 | switch(areaVert) |
salco | 28:ac5c6350ed9a | 419 | { |
salco | 28:ac5c6350ed9a | 420 | case 0: |
salco | 28:ac5c6350ed9a | 421 | myMaze->setC_Up(MUR); |
salco | 28:ac5c6350ed9a | 422 | break; |
salco | 28:ac5c6350ed9a | 423 | |
salco | 28:ac5c6350ed9a | 424 | case 1: |
salco | 28:ac5c6350ed9a | 425 | if(areaLatt == 0){ |
salco | 28:ac5c6350ed9a | 426 | myMaze->setC_Up(MUR); |
salco | 28:ac5c6350ed9a | 427 | } |
salco | 28:ac5c6350ed9a | 428 | else if(areaLatt == 1){ |
salco | 28:ac5c6350ed9a | 429 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()+1); |
salco | 28:ac5c6350ed9a | 430 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()+1); |
salco | 28:ac5c6350ed9a | 431 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()+1); |
salco | 28:ac5c6350ed9a | 432 | |
salco | 28:ac5c6350ed9a | 433 | myMaze->setC(MUR,myMaze->getX(),myMaze->getY()+2); |
salco | 28:ac5c6350ed9a | 434 | } |
salco | 28:ac5c6350ed9a | 435 | else if(areaLatt == 2){ |
salco | 28:ac5c6350ed9a | 436 | |
salco | 28:ac5c6350ed9a | 437 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()+1); |
salco | 28:ac5c6350ed9a | 438 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()+1); |
salco | 28:ac5c6350ed9a | 439 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()+1); |
salco | 28:ac5c6350ed9a | 440 | |
salco | 28:ac5c6350ed9a | 441 | myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()+2); |
salco | 28:ac5c6350ed9a | 442 | myMaze->setC(MUR,myMaze->getX(),myMaze->getY()+2); |
salco | 28:ac5c6350ed9a | 443 | myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()+2); |
salco | 28:ac5c6350ed9a | 444 | } |
salco | 28:ac5c6350ed9a | 445 | break; |
salco | 28:ac5c6350ed9a | 446 | |
salco | 28:ac5c6350ed9a | 447 | case 2: |
salco | 28:ac5c6350ed9a | 448 | if(areaLatt == 0){ |
salco | 28:ac5c6350ed9a | 449 | myMaze->setC_Up(MUR); |
salco | 28:ac5c6350ed9a | 450 | } |
salco | 28:ac5c6350ed9a | 451 | else if(areaLatt == 1){ |
salco | 28:ac5c6350ed9a | 452 | myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()+1);//mur? |
salco | 28:ac5c6350ed9a | 453 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()+1); |
salco | 28:ac5c6350ed9a | 454 | myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()+1);//mur? |
salco | 28:ac5c6350ed9a | 455 | |
salco | 28:ac5c6350ed9a | 456 | //myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()+1);//mur? |
salco | 28:ac5c6350ed9a | 457 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()+2); |
salco | 28:ac5c6350ed9a | 458 | //myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()+1);//mur? |
salco | 28:ac5c6350ed9a | 459 | } |
salco | 28:ac5c6350ed9a | 460 | else if(areaLatt == 2){ |
salco | 28:ac5c6350ed9a | 461 | |
salco | 28:ac5c6350ed9a | 462 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()+1); |
salco | 28:ac5c6350ed9a | 463 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()+1); |
salco | 28:ac5c6350ed9a | 464 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()+1); |
salco | 28:ac5c6350ed9a | 465 | |
salco | 28:ac5c6350ed9a | 466 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()+2); |
salco | 28:ac5c6350ed9a | 467 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()+2); |
salco | 28:ac5c6350ed9a | 468 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()+2); |
salco | 28:ac5c6350ed9a | 469 | } |
salco | 28:ac5c6350ed9a | 470 | break; |
salco | 28:ac5c6350ed9a | 471 | } |
salco | 28:ac5c6350ed9a | 472 | |
salco | 28:ac5c6350ed9a | 473 | break; |
salco | 28:ac5c6350ed9a | 474 | |
salco | 28:ac5c6350ed9a | 475 | case DOWN: |
salco | 28:ac5c6350ed9a | 476 | switch(areaVert) |
salco | 28:ac5c6350ed9a | 477 | { |
salco | 28:ac5c6350ed9a | 478 | case 0: |
salco | 28:ac5c6350ed9a | 479 | myMaze->setC_Down(MUR); |
salco | 28:ac5c6350ed9a | 480 | break; |
salco | 28:ac5c6350ed9a | 481 | |
salco | 28:ac5c6350ed9a | 482 | case 1: |
salco | 28:ac5c6350ed9a | 483 | if(areaLatt == 0){ |
salco | 28:ac5c6350ed9a | 484 | myMaze->setC_Down(MUR); |
salco | 28:ac5c6350ed9a | 485 | } |
salco | 28:ac5c6350ed9a | 486 | else if(areaLatt == 1){ |
salco | 28:ac5c6350ed9a | 487 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()-1); |
salco | 28:ac5c6350ed9a | 488 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()-1); |
salco | 28:ac5c6350ed9a | 489 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()-1); |
salco | 28:ac5c6350ed9a | 490 | |
salco | 28:ac5c6350ed9a | 491 | myMaze->setC(MUR,myMaze->getX(),myMaze->getY()-2); |
salco | 28:ac5c6350ed9a | 492 | } |
salco | 28:ac5c6350ed9a | 493 | else if(areaLatt == 2){ |
salco | 28:ac5c6350ed9a | 494 | |
salco | 28:ac5c6350ed9a | 495 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()-1); |
salco | 28:ac5c6350ed9a | 496 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()-1); |
salco | 28:ac5c6350ed9a | 497 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()-1); |
salco | 28:ac5c6350ed9a | 498 | |
salco | 28:ac5c6350ed9a | 499 | myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()-2); |
salco | 28:ac5c6350ed9a | 500 | myMaze->setC(MUR,myMaze->getX(),myMaze->getY()-2); |
salco | 28:ac5c6350ed9a | 501 | myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()-2); |
salco | 28:ac5c6350ed9a | 502 | } |
salco | 28:ac5c6350ed9a | 503 | break; |
salco | 28:ac5c6350ed9a | 504 | |
salco | 28:ac5c6350ed9a | 505 | case 2: |
salco | 28:ac5c6350ed9a | 506 | if(areaLatt == 0){ |
salco | 28:ac5c6350ed9a | 507 | myMaze->setC_Down(MUR); |
salco | 28:ac5c6350ed9a | 508 | } |
salco | 28:ac5c6350ed9a | 509 | else if(areaLatt == 1){ |
salco | 28:ac5c6350ed9a | 510 | myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()-1);//mur? |
salco | 28:ac5c6350ed9a | 511 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()-1); |
salco | 28:ac5c6350ed9a | 512 | myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()-1);//mur? |
salco | 28:ac5c6350ed9a | 513 | |
salco | 28:ac5c6350ed9a | 514 | //myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()+1);//mur? |
salco | 28:ac5c6350ed9a | 515 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()-2); |
salco | 28:ac5c6350ed9a | 516 | //myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()+1);//mur? |
salco | 28:ac5c6350ed9a | 517 | } |
salco | 28:ac5c6350ed9a | 518 | else if(areaLatt == 2){ |
salco | 28:ac5c6350ed9a | 519 | |
salco | 28:ac5c6350ed9a | 520 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()-1); |
salco | 28:ac5c6350ed9a | 521 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()-1); |
salco | 28:ac5c6350ed9a | 522 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()-1); |
salco | 28:ac5c6350ed9a | 523 | |
salco | 28:ac5c6350ed9a | 524 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()-2); |
salco | 28:ac5c6350ed9a | 525 | myMaze->setC(VIDE,myMaze->getX(),myMaze->getY()-2); |
salco | 28:ac5c6350ed9a | 526 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()-2); |
salco | 28:ac5c6350ed9a | 527 | } |
salco | 28:ac5c6350ed9a | 528 | break; |
salco | 28:ac5c6350ed9a | 529 | } |
salco | 28:ac5c6350ed9a | 530 | break; |
salco | 28:ac5c6350ed9a | 531 | |
salco | 28:ac5c6350ed9a | 532 | case LEFT: |
salco | 28:ac5c6350ed9a | 533 | switch(areaVert) |
salco | 28:ac5c6350ed9a | 534 | { |
salco | 28:ac5c6350ed9a | 535 | case 0: |
salco | 28:ac5c6350ed9a | 536 | myMaze->setC_Left(MUR); |
salco | 28:ac5c6350ed9a | 537 | break; |
salco | 28:ac5c6350ed9a | 538 | |
salco | 28:ac5c6350ed9a | 539 | case 1: |
salco | 28:ac5c6350ed9a | 540 | if(areaLatt == 0){ |
salco | 28:ac5c6350ed9a | 541 | myMaze->setC_Left(MUR); |
salco | 28:ac5c6350ed9a | 542 | } |
salco | 28:ac5c6350ed9a | 543 | else if(areaLatt == 1){ |
salco | 28:ac5c6350ed9a | 544 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()-1); |
salco | 28:ac5c6350ed9a | 545 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()); |
salco | 28:ac5c6350ed9a | 546 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()+1); |
salco | 28:ac5c6350ed9a | 547 | |
salco | 28:ac5c6350ed9a | 548 | myMaze->setC(MUR,myMaze->getX()-2,myMaze->getY()); |
salco | 28:ac5c6350ed9a | 549 | } |
salco | 28:ac5c6350ed9a | 550 | else if(areaLatt == 2){ |
salco | 28:ac5c6350ed9a | 551 | |
salco | 28:ac5c6350ed9a | 552 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()-1); |
salco | 28:ac5c6350ed9a | 553 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()); |
salco | 28:ac5c6350ed9a | 554 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()+1); |
salco | 28:ac5c6350ed9a | 555 | |
salco | 28:ac5c6350ed9a | 556 | myMaze->setC(PAS_EXPLORER,myMaze->getX()-2,myMaze->getY()-1); |
salco | 28:ac5c6350ed9a | 557 | myMaze->setC(MUR,myMaze->getX()-2,myMaze->getY()); |
salco | 28:ac5c6350ed9a | 558 | myMaze->setC(PAS_EXPLORER,myMaze->getX()-2,myMaze->getY()+1); |
salco | 28:ac5c6350ed9a | 559 | } |
salco | 28:ac5c6350ed9a | 560 | break; |
salco | 28:ac5c6350ed9a | 561 | |
salco | 28:ac5c6350ed9a | 562 | case 2: |
salco | 28:ac5c6350ed9a | 563 | if(areaLatt == 0){ |
salco | 28:ac5c6350ed9a | 564 | myMaze->setC_Left(MUR); |
salco | 28:ac5c6350ed9a | 565 | } |
salco | 28:ac5c6350ed9a | 566 | else if(areaLatt == 1){ |
salco | 28:ac5c6350ed9a | 567 | myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()-1);//mur? |
salco | 28:ac5c6350ed9a | 568 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()); |
salco | 28:ac5c6350ed9a | 569 | myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()+1);//mur? |
salco | 28:ac5c6350ed9a | 570 | |
salco | 28:ac5c6350ed9a | 571 | //myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()+1);//mur? |
salco | 28:ac5c6350ed9a | 572 | myMaze->setC(VIDE,myMaze->getX()-2,myMaze->getY()); |
salco | 28:ac5c6350ed9a | 573 | //myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()+1);//mur? |
salco | 28:ac5c6350ed9a | 574 | } |
salco | 28:ac5c6350ed9a | 575 | else if(areaLatt == 2){ |
salco | 28:ac5c6350ed9a | 576 | |
salco | 28:ac5c6350ed9a | 577 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()-1); |
salco | 28:ac5c6350ed9a | 578 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()); |
salco | 28:ac5c6350ed9a | 579 | myMaze->setC(VIDE,myMaze->getX()-1,myMaze->getY()+1); |
salco | 28:ac5c6350ed9a | 580 | |
salco | 28:ac5c6350ed9a | 581 | myMaze->setC(VIDE,myMaze->getX()-2,myMaze->getY()+1); |
salco | 28:ac5c6350ed9a | 582 | myMaze->setC(VIDE,myMaze->getX()-2,myMaze->getY()); |
salco | 28:ac5c6350ed9a | 583 | myMaze->setC(VIDE,myMaze->getX()-2,myMaze->getY()+1); |
salco | 28:ac5c6350ed9a | 584 | } |
salco | 28:ac5c6350ed9a | 585 | break; |
salco | 28:ac5c6350ed9a | 586 | } |
salco | 28:ac5c6350ed9a | 587 | break; |
salco | 28:ac5c6350ed9a | 588 | |
salco | 28:ac5c6350ed9a | 589 | case RIGHT: |
salco | 28:ac5c6350ed9a | 590 | switch(areaVert) |
salco | 28:ac5c6350ed9a | 591 | { |
salco | 28:ac5c6350ed9a | 592 | case 0: |
salco | 28:ac5c6350ed9a | 593 | myMaze->setC_Right(MUR); |
salco | 28:ac5c6350ed9a | 594 | break; |
salco | 28:ac5c6350ed9a | 595 | |
salco | 28:ac5c6350ed9a | 596 | case 1: |
salco | 28:ac5c6350ed9a | 597 | if(areaLatt == 0){ |
salco | 28:ac5c6350ed9a | 598 | myMaze->setC_Right(MUR); |
salco | 28:ac5c6350ed9a | 599 | } |
salco | 28:ac5c6350ed9a | 600 | else if(areaLatt == 1){ |
salco | 28:ac5c6350ed9a | 601 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()-1); |
salco | 28:ac5c6350ed9a | 602 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()); |
salco | 28:ac5c6350ed9a | 603 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()+1); |
salco | 28:ac5c6350ed9a | 604 | |
salco | 28:ac5c6350ed9a | 605 | myMaze->setC(MUR,myMaze->getX()+2,myMaze->getY()); |
salco | 28:ac5c6350ed9a | 606 | } |
salco | 28:ac5c6350ed9a | 607 | else if(areaLatt == 2){ |
salco | 28:ac5c6350ed9a | 608 | |
salco | 28:ac5c6350ed9a | 609 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()-1); |
salco | 28:ac5c6350ed9a | 610 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()); |
salco | 28:ac5c6350ed9a | 611 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()+1); |
salco | 28:ac5c6350ed9a | 612 | |
salco | 28:ac5c6350ed9a | 613 | myMaze->setC(PAS_EXPLORER,myMaze->getX()+2,myMaze->getY()-1); |
salco | 28:ac5c6350ed9a | 614 | myMaze->setC(MUR,myMaze->getX()+2,myMaze->getY()); |
salco | 28:ac5c6350ed9a | 615 | myMaze->setC(PAS_EXPLORER,myMaze->getX()+2,myMaze->getY()+1); |
salco | 28:ac5c6350ed9a | 616 | } |
salco | 28:ac5c6350ed9a | 617 | break; |
salco | 28:ac5c6350ed9a | 618 | |
salco | 28:ac5c6350ed9a | 619 | case 2: |
salco | 28:ac5c6350ed9a | 620 | if(areaLatt == 0){ |
salco | 28:ac5c6350ed9a | 621 | myMaze->setC_Right(MUR); |
salco | 28:ac5c6350ed9a | 622 | } |
salco | 28:ac5c6350ed9a | 623 | else if(areaLatt == 1){ |
salco | 28:ac5c6350ed9a | 624 | myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()-1);//mur? |
salco | 28:ac5c6350ed9a | 625 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()); |
salco | 28:ac5c6350ed9a | 626 | myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()+1);//mur? |
salco | 28:ac5c6350ed9a | 627 | |
salco | 28:ac5c6350ed9a | 628 | //myMaze->setC(PAS_EXPLORER,myMaze->getX()-1,myMaze->getY()+1);//mur? |
salco | 28:ac5c6350ed9a | 629 | myMaze->setC(VIDE,myMaze->getX()+2,myMaze->getY()); |
salco | 28:ac5c6350ed9a | 630 | //myMaze->setC(PAS_EXPLORER,myMaze->getX()+1,myMaze->getY()+1);//mur? |
salco | 28:ac5c6350ed9a | 631 | } |
salco | 28:ac5c6350ed9a | 632 | else if(areaLatt == 2){ |
salco | 28:ac5c6350ed9a | 633 | |
salco | 28:ac5c6350ed9a | 634 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()-1); |
salco | 28:ac5c6350ed9a | 635 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()); |
salco | 28:ac5c6350ed9a | 636 | myMaze->setC(VIDE,myMaze->getX()+1,myMaze->getY()+1); |
salco | 28:ac5c6350ed9a | 637 | |
salco | 28:ac5c6350ed9a | 638 | myMaze->setC(VIDE,myMaze->getX()+2,myMaze->getY()+1); |
salco | 28:ac5c6350ed9a | 639 | myMaze->setC(VIDE,myMaze->getX()+2,myMaze->getY()); |
salco | 28:ac5c6350ed9a | 640 | myMaze->setC(VIDE,myMaze->getX()+2,myMaze->getY()+1); |
salco | 28:ac5c6350ed9a | 641 | } |
salco | 28:ac5c6350ed9a | 642 | break; |
salco | 28:ac5c6350ed9a | 643 | } |
salco | 28:ac5c6350ed9a | 644 | break; |
salco | 28:ac5c6350ed9a | 645 | } |
salco | 2:4c5b0f6d0a6b | 646 | } |