Revision 37:f53e9f7a14df, committed 2015-09-29

Comitter:

salco

Date:

Tue Sep 29 17:23:25 2015 +0000

Parent:

36:474d4795aafa

Child:

38:57d5f36a0333

Commit message:

modification de la fonction analiseMaze();

Changed in this revision

--- a/directive.cpp	Sun Sep 13 06:56:09 2015 +0000
+++ b/directive.cpp	Tue Sep 29 17:23:25 2015 +0000
@@ -96,34 +96,66 @@
 {
        
        #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;
-    }
-    }
+       debug("\x1B[2J"); //clear screen
+       debug("\x1B[25l");//hide cursor
+       debug("\x1B[;H"); //cursor default position
+       /*
+       createDLbox(0,0,10,25,"BrainControle");    
+        setText(1,3,"1) Move Up");
+        setText(1,4,"2) Move Down");
+        setText(1,5,"3) Move Left");
+        setText(1,6,"4) Move Right");
+                 
+       int idCommand;
+       do{
+            if(pc.readable()){
+                idCommand = fgetc(pc) - '0';
+                switch(idCommand)
+                {
+                case 1:
+                    myMaze->goUp();
+                    break;
+                case 2:
+                    myMaze->goDown();    
+                    break;
+                case 3:
+                    myMaze->goLeft();    
+                    break;
+                case 4:
+                    myMaze->goRight();    
+                    break;
+                }
+                myMaze->setMyPos(Labyrinthe::explorer);
+                
+                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+6]);
+                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]);
+                debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
+                
+                #ifdef DBG_MAIN_DELAY_SEC
+                debug("\n\r\n wait \n\r\n");
+                wait(DBG_MAIN_DELAY_SEC);
+                #endif   
+                
+                debug("\x1B[2J"); //clear screen
+                debug("\x1B[;H"); //cursor default position
+                createDLbox(0,0,10,25,"BrainControle");    
+                setText(1,3,"1) Move Up");
+                setText(1,4,"2) Move Down");
+                setText(1,5,"3) Move Left");
+                setText(1,6,"4) Move Right");
+            }
+        }while(1);   */
     #endif
     
     //debug(DEBUG_DIRECTIVE_TEST,"\n\rIn task directive");
+    #ifndef DEBUG_DIRECTIVE_LEG_DISABLE
     if(ctrDesPattes->isSeqComplet()) {
+        
         if((tableauDeCommange[0] == 6) && (size_tableauDeCommange == 1)) {
             //addTableauDeCommande(0x81);
             //addTableauDeCommande(0x82);
@@ -135,6 +167,8 @@
             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.
 
@@ -152,7 +186,7 @@
                 debug("\n\r flag: %d",flag[0]);
                 debug("\n\r data: %x",data[0]);
             }*/
-#ifndef BACKUP
+
             updateModuleValue();
 
             //////////////////////////////
@@ -161,7 +195,7 @@
             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);
-
+#endif //DEBUG_DIRECTIVE_LEG_DISABLE
             analiseMaze();
             char nextCase=0;
             switch(myMaze->getDirection()) {
@@ -183,14 +217,21 @@
             }
 
             switch(nextCase ) {
-                case Labyrinthe::vide:
+                case Labyrinthe::vide :
+                    #ifdef DEBUG_DIRECTIVE_LEG_DISABLE
+                    debug("nextCase Vide\n\r");
+                    #endif
                     debug(DEBUG_DIRECTIVE_TEST," Javance");
+                    #ifndef DEBUG_DIRECTIVE_LEG_DISABLE
                     addTableauDeCommande(6);
+                    #endif
                     break;
 
-                case EXPLORER:// ici pt amiliorer
+                case Labyrinthe::explorer :// ici pt amiliorer
                     debug(DEBUG_DIRECTIVE_TEST," Javance");
+                    #ifndef DEBUG_DIRECTIVE_LEG_DISABLE
                     addTableauDeCommande(6);
+                    #endif
                     break;
 
                 case Labyrinthe::mur:
@@ -222,14 +263,15 @@
 
                     break;
 
-                case Labyrinthe::pasExplorer:
+                case Labyrinthe::pasExplorer :
                     debug(DEBUG_DIRECTIVE_TEST," Javance");
+                    #ifndef DEBUG_DIRECTIVE_LEG_DISABLE
                     addTableauDeCommande(6);
+                    #endif
                     break;
             }
 
-#endif
-#if BACKUP
+#ifndef DEBUG_DIRECTIVE_LEG_DISABLE
             /*if((ultrasonicToInch(m_valueCapteurUltrasonic)< 1) && (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80)) //capteur ultrasson embrouiller/imprecis
             {
                 debug(DEBUG_DIRECTIVE_TEST,"\n\r        -Capteur Ultrasson brouiller");
@@ -276,11 +318,13 @@
 
                 //addTableauDeCommande(6);
             }*/
-#endif
+
             ///////////////
             // Mouvement //
             ///////////////
-        } else {
+        }
+        else {
+            
             switch(tableauDeCommange[0]) {
                 case 11:
                     debug(DEBUG_DIRECTIVE_TEST,"\n\r        -set_calibre");
@@ -352,9 +396,11 @@
             tableauDeCommange[9]=0;
             if(size_tableauDeCommange != 0) size_tableauDeCommange--;
         }
-    } else {
+        
+    } else { 
         ctrDesPattes->exec();
     }
+    #endif //DEBUG_DIRECTIVE_LEG_DISABLE
     ////////////////////
     // Update memoire //
     ////////////////////
@@ -365,6 +411,12 @@
 
 
     //debug(DEBUG_DIRECTIVE_TEST,"\n\rOut task directive");
+   #ifdef DEBUG_BOOT_GRAPHICAL_INTERFACE
+                #ifdef DBG_MAIN_DELAY_SEC
+                debug("\n\r\n wait \n\r\n");
+                wait(DBG_MAIN_DELAY_SEC);
+                #endif   
+    #endif
 }
 double Directive::IRToCm (double miliVolt)
 {
@@ -423,6 +475,23 @@
     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());
+    
+    debug("Direction: ");
+    switch(myMaze->getDirection()) {
+        case UP:
+            debug(DEBUG_DIRECTIVE_LABYRINTH,"Up \n\r");
+            break;
+        case DOWN:
+            debug(DEBUG_DIRECTIVE_LABYRINTH,"Down \n\r");
+            break;
+        case LEFT:
+            debug(DEBUG_DIRECTIVE_LABYRINTH,"Left \n\r");
+            break;
+        case RIGHT:
+            debug(DEBUG_DIRECTIVE_LABYRINTH,"Right \n\r");
+            break;
+        }
+    
     for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+6]);
     debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
     for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+3]);
@@ -431,7 +500,7 @@
     debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
 
 
-
+#ifndef DEBUG_DIRECTIVE_LABYRINTH_USER_CTRL 
     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);
@@ -444,6 +513,8 @@
         areaLatt =1;
         areaVert =1;
     }
+    debug(DEBUG_DIRECTIVE_TEST,": %i",ultrasonicToInch(m_valueCapteurUltrasonic));
+    
     if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 60) {
         debug(DEBUG_DIRECTIVE_TEST,"\n\r          -Confirmation IR");
         areaVert =2;
@@ -451,216 +522,241 @@
         debug(DEBUG_DIRECTIVE_TEST,"\n\r          -Confirmation IR");
         areaVert =1;
     }
-
-
-    switch(myMaze->getDirection()) {
-        case UP:
-            switch(areaVert) {
-                case 0:
-                    myMaze->setC_Up(Labyrinthe::mur);
-                    break;
+    debug(DEBUG_DIRECTIVE_TEST,": %i",IRToCm(ADCTomv(m_valueCapteurIR));
+#endif
 
-                case 1:
-                    if(areaLatt == 0) {
-                        myMaze->setC_Up(Labyrinthe::mur);
-                    } else if(areaLatt == 1) {
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY()+1);
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX(),myMaze->getY()+1);
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY()+1);
+#ifdef DEBUG_DIRECTIVE_LABYRINTH_USER_CTRL
+    debug("\n\r---analise maze(manualy CTRL)---\n\r");
+    int idCommand = -1;
+    do{
+    debug("\n\r Enter areaVert [0,1,2]: "); idCommand = fgetc(pc) - '0';
+    debug(" %i",idCommand);
+    }while((idCommand < 0) && (idCommand > 2));
+    areaVert = idCommand;
+    
+    do{
+    debug("\n\r Enter areaLatt [0,1,2]: "); idCommand = fgetc(pc) - '0';
+    debug(" %i",idCommand);
+    }while((idCommand < 0) && (idCommand > 2));
+    areaLatt = idCommand;
 
-                        myMaze->setC(Labyrinthe::mur,myMaze->getX(),myMaze->getY()+2);
-                    } else if(areaLatt == 2) {
+    debug("\n\r");
+#endif
+//changer lalgoritme ici
+
+/*
+/---\
+|?M?| //vert 0
+|.X.| //latt 0
+|...|
+\---/
 
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY()+1);
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX(),myMaze->getY()+1);
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY()+1);
+/-M-\
+|?V?| //vert 1
+|.X.| //latt 0
+|...|
+\---/   
+        
+/?M?\
+|VVV| //vert 1
+|.X.| //latt 1
+|...| // objet possiblement a proximiter 
+\---/
 
-                        myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()-1,myMaze->getY()+2);
-                        myMaze->setC(Labyrinthe::mur,myMaze->getX(),myMaze->getY()+2);
-                        myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()+1,myMaze->getY()+2);
-                    }
-                    break;
+/?M?\
+|VVV| //vert 1
+|.X.| //latt 2
+|...| // cas impossible
+\---/
 
-                case 2:
-                    if(areaLatt == 0) {
-                        myMaze->setC_Up(Labyrinthe::mur);
-                    } else if(areaLatt == 1) {
-                        myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()-1,myMaze->getY()+1);//mur?
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX(),myMaze->getY()+1);
-                        myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()+1,myMaze->getY()+1);//mur?
+/?V?\
+|?V?| //vert 2
+|.X.| //latt 0
+|...| // objet possiblement a proximiter
+\---/
+
+/?V?\
+|VVV| //vert 2
+|.X.| //latt 1
+|...| // objet possiblement a proximiter
+\---/
 
-                        //myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()-1,myMaze->getY()+1);//mur?
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX(),myMaze->getY()+2);
-                        //myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()+1,myMaze->getY()+1);//mur?
-                    } else if(areaLatt == 2) {
-
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY()+1);
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX(),myMaze->getY()+1);
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY()+1);
+/VVV\
+|VVV| //vert 2
+|.X.| //latt 2
+|...|
+\---/
+*/
+//vertical==0 latt==0 //mur devant
+//vertical==1 latt==1
+////////////////////////////////////
+//345  415
+//012  203| numerotation des case
+///////////////////////////////////
+signed char fieldX[6]={0,0,0,0,0,0};
+signed char fieldY[6]={0,0,0,0,0,0};
+bool fieldSet = false;
 
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY()+2);
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX(),myMaze->getY()+2);
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY()+2);
-                    }
-                    break;
-            }
-
+switch(myMaze->getDirection()) 
+{
+    case UP:
+        fieldX[0] = myMaze->getX()-1;
+        fieldY[0] = myMaze->getY()+1;
+        fieldX[1] = myMaze->getX();
+        fieldY[1] = myMaze->getY()+1;
+        fieldX[2] = myMaze->getX()+1;
+        fieldY[2] = myMaze->getY()+1;
+        fieldX[3] = myMaze->getX()-1;
+        fieldY[3] = myMaze->getY()+2;
+        fieldX[4] = myMaze->getX();
+        fieldY[4] = myMaze->getY()+2;
+        fieldX[5] = myMaze->getX()+1;
+        fieldY[5] = myMaze->getY()+2;
+        break;
+        
+    case DOWN:
+        fieldX[0] = myMaze->getX()-1;
+        fieldY[0] = myMaze->getY()-1;
+        fieldX[1] = myMaze->getX();
+        fieldY[1] = myMaze->getY()-1;
+        fieldX[2] = myMaze->getX()+1;
+        fieldY[2] = myMaze->getY()-1;
+        fieldX[3] = myMaze->getX()-1;
+        fieldY[3] = myMaze->getY()-2;
+        fieldX[4] = myMaze->getX();
+        fieldY[4] = myMaze->getY()-2;
+        fieldX[5] = myMaze->getX()+1;
+        fieldY[5] = myMaze->getY()-2;
+        break;
+        
+    case LEFT:
+        fieldX[0] = myMaze->getX()-1;
+        fieldY[0] = myMaze->getY()-1;
+        fieldX[1] = myMaze->getX()-1;
+        fieldY[1] = myMaze->getY();
+        fieldX[2] = myMaze->getX()-1;
+        fieldY[2] = myMaze->getY()+1;
+        fieldX[3] = myMaze->getX()-2;
+        fieldY[3] = myMaze->getY()-1;
+        fieldX[4] = myMaze->getX()-2;
+        fieldY[4] = myMaze->getY();
+        fieldX[5] = myMaze->getX()-2;
+        fieldY[5] = myMaze->getY()+1;
+        break;
+        
+    case RIGHT:
+        fieldX[0] = myMaze->getX()+1;
+        fieldY[0] = myMaze->getY()-1;
+        fieldX[1] = myMaze->getX()+1;
+        fieldY[1] = myMaze->getY();
+        fieldX[2] = myMaze->getX()+1;
+        fieldY[2] = myMaze->getY()+1;
+        fieldX[3] = myMaze->getX()+2;
+        fieldY[3] = myMaze->getY()-1;
+        fieldX[4] = myMaze->getX()+2;
+        fieldY[4] = myMaze->getY();
+        fieldX[5] = myMaze->getX()+2;
+        fieldY[5] = myMaze->getY()+1;
+        break;
+}  
+    if(areaVert >= areaLatt)
+    {
+        switch(areaVert)
+        {
+         case 0:
+             /*
+                /---\
+                |?M?| //vert 0
+                |.X.| //latt 0
+                |...|
+                \---/
+             */
+            myMaze->setC(Labyrinthe::mur,fieldX[1],fieldY[1]);
+            fieldSet = true;
             break;
-
-        case DOWN:
-            switch(areaVert) {
-                case 0:
-                    myMaze->setC_Down(Labyrinthe::mur);
-                    break;
-
-                case 1:
-                    if(areaLatt == 0) {
-                        myMaze->setC_Down(Labyrinthe::mur);
-                    } else if(areaLatt == 1) {
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY()-1);
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX(),myMaze->getY()-1);
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY()-1);
-
-                        myMaze->setC(Labyrinthe::mur,myMaze->getX(),myMaze->getY()-2);
-                    } else if(areaLatt == 2) {
-
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY()-1);
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX(),myMaze->getY()-1);
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY()-1);
-
-                        myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()-1,myMaze->getY()-2);
-                        myMaze->setC(Labyrinthe::mur,myMaze->getX(),myMaze->getY()-2);
-                        myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()+1,myMaze->getY()-2);
-                    }
-                    break;
-
-                case 2:
-                    if(areaLatt == 0) {
-                        myMaze->setC_Down(Labyrinthe::mur);
-                    } else if(areaLatt == 1) {
-                        myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()-1,myMaze->getY()-1);//mur?
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX(),myMaze->getY()-1);
-                        myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()+1,myMaze->getY()-1);//mur?
-
-                        //myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()-1,myMaze->getY()+1);//mur?
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX(),myMaze->getY()-2);
-                        //myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()+1,myMaze->getY()+1);//mur?
-                    } else if(areaLatt == 2) {
-
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY()-1);
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX(),myMaze->getY()-1);
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY()-1);
-
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY()-2);
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX(),myMaze->getY()-2);
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY()-2);
-                    }
-                    break;
+         case 1:
+            /*
+                /-M-\
+                |?V?| //vert 1
+                |.X.| //latt 0
+                |...|
+                \---/ 
+            */
+            myMaze->setC(Labyrinthe::vide,fieldX[1],fieldY[1]);
+            myMaze->setC(Labyrinthe::mur,fieldX[4],fieldY[4]);
+            fieldSet = true;
+            
+            if(areaLatt == 1)
+            {
+                 /*
+                    /?M?\
+                    |VVV| //vert 1
+                    |.X.| //latt 1
+                    |...| // objet possiblement a proximiter 
+                    \---/
+                 */
+                 myMaze->setC(Labyrinthe::vide,fieldX[0],fieldY[0]);
+                 myMaze->setC(Labyrinthe::vide,fieldX[2],fieldY[2]);
             }
             break;
-
-        case LEFT:
-            switch(areaVert) {
-                case 0:
-                    myMaze->setC_Left(Labyrinthe::mur);
-                    break;
-
-                case 1:
-                    if(areaLatt == 0) {
-                        myMaze->setC_Left(Labyrinthe::mur);
-                    } else if(areaLatt == 1) {
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY()-1);
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY());
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY()+1);
-
-                        myMaze->setC(Labyrinthe::mur,myMaze->getX()-2,myMaze->getY());
-                    } else if(areaLatt == 2) {
-
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY()-1);
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY());
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY()+1);
-
-                        myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()-2,myMaze->getY()-1);
-                        myMaze->setC(Labyrinthe::mur,myMaze->getX()-2,myMaze->getY());
-                        myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()-2,myMaze->getY()+1);
-                    }
-                    break;
-
-                case 2:
-                    if(areaLatt == 0) {
-                        myMaze->setC_Left(Labyrinthe::mur);
-                    } else if(areaLatt == 1) {
-                        myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()-1,myMaze->getY()-1);//mur?
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY());
-                        myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()-1,myMaze->getY()+1);//mur?
-
-                        //myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()-1,myMaze->getY()+1);//mur?
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()-2,myMaze->getY());
-                        //myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()+1,myMaze->getY()+1);//mur?
-                    } else if(areaLatt == 2) {
-
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY()-1);
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY());
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY()+1);
-
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()-2,myMaze->getY()+1);
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()-2,myMaze->getY());
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()-2,myMaze->getY()+1);
-                    }
-                    break;
-            }
+         case 2:
+             fieldSet = true;
+             switch(areaLatt)
+             {
+              case 0:
+               /*
+                    /?V?\
+                    |?V?| //vert 2
+                    |.X.| //latt 0
+                    |...| // objet possiblement a proximiter
+                    \---/
+                */
+                myMaze->setC(Labyrinthe::vide,fieldX[1],fieldY[1]);
+                myMaze->setC(Labyrinthe::vide,fieldX[4],fieldY[4]);
+                break; 
+              case 1:
+                /*
+                    /?V?\
+                    |VVV| //vert 2
+                    |.X.| //latt 1
+                    |...| // objet possiblement a proximiter
+                    \---/
+                */
+                for(int i = 0;i<3;i++)myMaze->setC(Labyrinthe::vide,fieldX[i],fieldY[i]);
+                myMaze->setC(Labyrinthe::vide,fieldX[4],fieldY[4]);
+                break; 
+              case 2:
+                /*
+                    /VVV\
+                    |VVV| //vert 2
+                    |.X.| //latt 2
+                    |...|
+                    \---/
+                */
+                for(int i = 0;i<6;i++)myMaze->setC( Labyrinthe::vide,fieldX[i],fieldY[i]);
+                break; 
+             }
             break;
+        }   
+    }
+    
+    if(fieldSet == false)// on a un cas impossible
+    {
+      myMaze->setC(Labyrinthe::error,fieldX[1],fieldY[1]);  
+    }
 
-        case RIGHT:
-            switch(areaVert) {
-                case 0:
-                    myMaze->setC_Right(Labyrinthe::mur);
-                    break;
+////////////////////////////////////
 
-                case 1:
-                    if(areaLatt == 0) {
-                        myMaze->setC_Right(Labyrinthe::mur);
-                    } else if(areaLatt == 1) {
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY()-1);
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY());
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY()+1);
-
-                        myMaze->setC(Labyrinthe::mur,myMaze->getX()+2,myMaze->getY());
-                    } else if(areaLatt == 2) {
-
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY()-1);
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY());
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY()+1);
-
-                        myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()+2,myMaze->getY()-1);
-                        myMaze->setC(Labyrinthe::mur,myMaze->getX()+2,myMaze->getY());
-                        myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()+2,myMaze->getY()+1);
-                    }
-                    break;
 
-                case 2:
-                    if(areaLatt == 0) {
-                        myMaze->setC_Right(Labyrinthe::mur);
-                    } else if(areaLatt == 1) {
-                        myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()+1,myMaze->getY()-1);//mur?
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY());
-                        myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()+1,myMaze->getY()+1);//mur?
-
-                        //myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()-1,myMaze->getY()+1);//mur?
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()+2,myMaze->getY());
-                        //myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()+1,myMaze->getY()+1);//mur?
-                    } else if(areaLatt == 2) {
-
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY()-1);
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY());
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY()+1);
-
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()+2,myMaze->getY()+1);
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()+2,myMaze->getY());
-                        myMaze->setC(Labyrinthe::vide,myMaze->getX()+2,myMaze->getY()+1);
-                    }
-                    break;
-            }
-            break;
-    }
+    #ifdef DEBUG_DIRECTIVE_LABYRINTH_USER_CTRL
+    mymap = myMaze->showMap();
+    for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+6]);
+    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]);
+    debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
+    
+    debug("\n\r-------------------\n\r");
+    #endif
 }
\ No newline at end of file

--- a/labyrinthe.cpp	Sun Sep 13 06:56:09 2015 +0000
+++ b/labyrinthe.cpp	Tue Sep 29 17:23:25 2015 +0000
@@ -23,27 +23,30 @@
 {
 }
 
-coordonerr Labyrinthe::getCoordoner(char &x, char &y)
+//modifie X et Y pour metre le bon formatage des coordoner et sort l'ID de la case
+//tout ca est qu'un formatage il ne garanti pas que la tuile existe
+coordonerr Labyrinthe::getCoordoner(signed char &x, signed char &y) 
 {
     coordonerr result = unset;
-    char newPosX,newPosY;
+    signed char newPosX = (signed char)x;
+    signed char newPosY = (signed char)y;
     
     #ifdef DEGUG_LABIRINTH_GET_COORDONER
     debug("\n\r----------getCoordoner------\n\r");
-    debug(" x: %i Y: %i\n\r",x,y);
+    debug(" x: %i Y: %i\n\r",(signed char)x, (signed char)newPosY);
     #endif
     
         
-    newPosX = 3*((((signed)x<0)? x-2:x)/3); // je veux le nobre de fois quil a fait un tours et donc seulment les entier
-    newPosY = 3*((((signed)y<0)? y-2:y)/3);
+    newPosX = 3*((((signed char)newPosX<0)? (signed char)newPosX-2:(signed char)newPosX)/3); // je veux le nobre de fois quil a fait un tours et donc seulment les entier
+    newPosY = 3*((((signed char)newPosY<0)? (signed char)newPosY-2:(signed char)newPosY)/3);
     
     #ifdef DEGUG_LABIRINTH_GET_COORDONER
-    debug(" newPosX: %i newPosY: %i\n\r",newPosX,newPosY);
+    debug(" newPosX: %i newPosY: %i\n\r",(signed char)newPosX,(signed char)newPosY);
     #endif
 
     
     
-    switch(x - newPosX){
+    switch((signed char)x - (signed char)newPosX){
         case 0:
             switch(y - newPosY){
                 case 0:
@@ -51,11 +54,11 @@
                     break;
                 
                 case 1:
-                    result=C2;
+                    result=C4;
                     break;
                 
                 case 2:
-                    result=C3;
+                    result=C7;
                     break;
                 }
         break;
@@ -63,7 +66,7 @@
         case 1:
             switch(y - newPosY){
                 case 0:
-                    result=C4;
+                    result=C2;
                     break;
                 
                 case 1:
@@ -71,7 +74,7 @@
                     break;
                 
                 case 2:
-                    result=C6;
+                    result=C8;
                     break;
                 }
         break;
@@ -79,11 +82,11 @@
         case 2:
             switch(y - newPosY){
                 case 0:
-                    result=C7;
+                    result=C3;
                     break;
                 
                 case 1:
-                    result=C8;
+                    result=C6;
                     break;
                 
                 case 2:
@@ -93,7 +96,7 @@
         break;       
         }
     
-    x = newPosX;
+    x = (signed char)newPosX;
     y = newPosY;
     /*result =(coordonerr)( 2 + newPosX);
 
@@ -111,10 +114,10 @@
             break;
     }*/
     #ifdef DEGUG_LABIRINTH_GET_COORDONER
-    debug(" newPosX: %i newPosY: %i\n\r",newPosX,newPosY);
+    //debug(" newPosX: %i newPosY: %i\n\r",newPosX,newPosY);
     //debug("\n\r result: X: %02d   Y:%02d",newPosX,newPosY);
     debug("\n\r result: :%02d \n\r",result);
-    debug("\n\r--------------------\n\r");
+    debug("--------------------\n\r");
     #endif
 
     return result;
@@ -122,8 +125,8 @@
 coordonerr Labyrinthe::getCoordoner(void)
 {
     coordonerr result;
-    char newPosX = m_posX;
-    char newPosY = m_posY;
+    signed char newPosX = m_posX;
+    signed char newPosY = m_posY;
     
     result = getCoordoner(newPosX,newPosY);
 
@@ -134,11 +137,14 @@
 {
     return showMap(m_posX,m_posY);
 }
-string Labyrinthe::showMap(char x, char y)
+string Labyrinthe::showMap(signed char x, signed char y)
 {
     //bool result=false;
     string theMap;
     theMap.clear();
+    #ifdef DEBUG_LABYRINTHE_SHOW_MAP
+    debug("\n\r----------showmap------\n\r");
+    #endif
     /* char newPosX = x;
      char newPosY = y;
 
@@ -171,11 +177,11 @@
         theMap.append(1,((mapDuLabyrinthe[(stringPosition)+3]>>0)& 3));
     }
     
-    #ifdef DEBUG_BOOT_GRAPHICAL_INTERFACE
-    debug("\n\r----------showmap------\n\r");
-    debug(" map size: %i \n\r",mapDuLabyrinthe.size());
+    #ifdef DEBUG_LABYRINTHE_SHOW_MAP
+    debug(" mapDuLabyrinthe size: %i \n\r",mapDuLabyrinthe.size());
     debug("  stringPosition: %i \n\r",stringPosition); 
     if(stringPosition != -1) {
+        debug(" theMap size: %i \n\r",theMap.size());
         debug("  (mapDuLabyrinthe[(stringPosition)+1]>>0): %i &3== %i  \n\r",(mapDuLabyrinthe[(stringPosition)+1]>>0),((mapDuLabyrinthe[(stringPosition)+1]>>0)& 3)); //c1
         debug("  (mapDuLabyrinthe[(stringPosition)+2]>>6): %i &3== %i  \n\r",(mapDuLabyrinthe[(stringPosition)+2]>>6),((mapDuLabyrinthe[(stringPosition)+2]>>6)& 3)); //c2
         debug("  (mapDuLabyrinthe[(stringPosition)+2]>>4): %i &3== %i  \n\r",(mapDuLabyrinthe[(stringPosition)+2]>>4),((mapDuLabyrinthe[(stringPosition)+2]>>4)& 3)); //c3
@@ -198,13 +204,16 @@
 {
     return updateMap(mapUpdated,m_posX,m_posY);
 }
-bool Labyrinthe::updateMap(string mapUpdated,char x, char y)
+bool Labyrinthe::updateMap(string mapUpdated,signed char x, signed char y)
 {
+    #ifdef DEBUG_LABYRINTHE_GRAPHICAL_INTERFACE
+    debug("\n\r----------updateMap------\n\r");
+    #endif
     bool result = true;
     int stringPosition = searchCoord(x,y);
 
     if(stringPosition == -1)
-        result= false;
+        result= false; 
     else {
         mapDuLabyrinthe[(stringPosition)+1] = ((mapDuLabyrinthe[(stringPosition)+1]) & 0xFC) | ((mapUpdated[0] &0x03)<<0); 
         mapDuLabyrinthe[(stringPosition)+2] = ((mapDuLabyrinthe[(stringPosition)+2]) & 0x3F) | ((mapUpdated[1] &0x03)<<6); 
@@ -212,24 +221,43 @@
 
         mapDuLabyrinthe[(stringPosition)+2] = ((mapDuLabyrinthe[(stringPosition)+2]) & 0xF3) | ((mapUpdated[3] &0x03)<<2);
         mapDuLabyrinthe[(stringPosition)+2] = ((mapDuLabyrinthe[(stringPosition)+2]) & 0xFC) | ((mapUpdated[4] &0x03)<<0);
-        mapDuLabyrinthe[(stringPosition)+2] = ((mapDuLabyrinthe[(stringPosition)+3]) & 0x3F) | ((mapUpdated[5] &0x03)<<6);
+        mapDuLabyrinthe[(stringPosition)+3] = ((mapDuLabyrinthe[(stringPosition)+3]) & 0x3F) | ((mapUpdated[5] &0x03)<<6);
 
-        mapDuLabyrinthe[(stringPosition)+2] = ((mapDuLabyrinthe[(stringPosition)+2]) & 0xCF) | ((mapUpdated[6] &0x03)<<4);
-        mapDuLabyrinthe[(stringPosition)+2] = ((mapDuLabyrinthe[(stringPosition)+2]) & 0xF3) | ((mapUpdated[7] &0x03)<<2);
-        mapDuLabyrinthe[(stringPosition)+2] = ((mapDuLabyrinthe[(stringPosition)+2]) & 0xFC) | ((mapUpdated[8] &0x03)<<0);
+        mapDuLabyrinthe[(stringPosition)+3] = ((mapDuLabyrinthe[(stringPosition)+3]) & 0xCF) | ((mapUpdated[6] &0x03)<<4);
+        mapDuLabyrinthe[(stringPosition)+3] = ((mapDuLabyrinthe[(stringPosition)+3]) & 0xF3) | ((mapUpdated[7] &0x03)<<2);
+        mapDuLabyrinthe[(stringPosition)+3] = ((mapDuLabyrinthe[(stringPosition)+3]) & 0xFC) | ((mapUpdated[8] &0x03)<<0);
     }
-
+    
+     #ifdef DEBUG_LABYRINTHE_GRAPHICAL_INTERFACE
+    debug(" result: %i \n\r",result?1:0);
+    debug("  stringPosition: %i \n\r",stringPosition); 
+    if(stringPosition != -1) {
+        debug("  (mapDuLabyrinthe[(stringPosition)+1]>>0): %i &3== %i  \n\r",(mapDuLabyrinthe[(stringPosition)+1]>>0),((mapDuLabyrinthe[(stringPosition)+1]>>0)& 3)); //c1
+        debug("  (mapDuLabyrinthe[(stringPosition)+2]>>6): %i &3== %i  \n\r",(mapDuLabyrinthe[(stringPosition)+2]>>6),((mapDuLabyrinthe[(stringPosition)+2]>>6)& 3)); //c2
+        debug("  (mapDuLabyrinthe[(stringPosition)+2]>>4): %i &3== %i  \n\r",(mapDuLabyrinthe[(stringPosition)+2]>>4),((mapDuLabyrinthe[(stringPosition)+2]>>4)& 3)); //c3
+        debug("  \n\r");
+        debug("  (mapDuLabyrinthe[(stringPosition)+2]>>2): %i &3== %i  \n\r",(mapDuLabyrinthe[(stringPosition)+2]>>2),((mapDuLabyrinthe[(stringPosition)+2]>>2)& 3)); //c4
+        debug("  (mapDuLabyrinthe[(stringPosition)+2]>>0): %i &3== %i  \n\r",(mapDuLabyrinthe[(stringPosition)+2]>>0),((mapDuLabyrinthe[(stringPosition)+2]>>0)& 3)); //c5
+        debug("  (mapDuLabyrinthe[(stringPosition)+3]>>6): %i &3== %i  \n\r",(mapDuLabyrinthe[(stringPosition)+3]>>6),((mapDuLabyrinthe[(stringPosition)+3]>>6)& 3)); //c6
+        debug("  \n\r");
+        debug("  (mapDuLabyrinthe[(stringPosition)+3]>>4): %i &3== %i  \n\r",(mapDuLabyrinthe[(stringPosition)+3]>>4),((mapDuLabyrinthe[(stringPosition)+3]>>4)& 3)); //c7
+        debug("  (mapDuLabyrinthe[(stringPosition)+3]>>2): %i &3== %i  \n\r",(mapDuLabyrinthe[(stringPosition)+3]>>2),((mapDuLabyrinthe[(stringPosition)+3]>>2)& 3)); //c8
+        debug("  (mapDuLabyrinthe[(stringPosition)+3]>>0): %i &3== %i  \n\r",(mapDuLabyrinthe[(stringPosition)+3]>>0),((mapDuLabyrinthe[(stringPosition)+3]>>0)& 3)); //c9
+        debug("  \n\r");
+    }
+    debug("\n\r----------------------\n\r");
+    #endif
 
     return result;
 }
-bool Labyrinthe::addMap(char x, char y)
+bool Labyrinthe::addMap(signed char x, signed char y)
 {
     bool result = true;
     x &= 0x7F; // on coupe le 8eme bit
     y &= 0x7F; //
 
     mapDuLabyrinthe.append(1,((x<<1) | (y>>6)) );//x7,x6,x5,x4,x3,x2,x1,y7
-    mapDuLabyrinthe.append(1,y<<1);              //y6,y5,y4,y3,y2,y1,[C1],[C1]
+    mapDuLabyrinthe.append(1,y<<2);              //y6,y5,y4,y3,y2,y1,[C1],[C1]
     mapDuLabyrinthe.append(2,0);                 //add C2-C9 vide
     
     #ifdef DEBUG_LABYRINTHE_ADD_MAP
@@ -237,6 +265,7 @@
     debug("x = %i \n\r",x);
     debug("y = %i \n\r",y);
     debug("((x<<1) | (y>>6)) = %i \n\r",((x<<1) | (y>>6)));
+    
     debug("-------------\n\r");
     #endif
 
@@ -244,17 +273,19 @@
 }
 
 //renvoi l'ID du 4 byte de la tuile dans le string
-int Labyrinthe::searchCoord(char posX,char posY)
+// renvoi -1 en cas d'erreur
+int Labyrinthe::searchCoord(signed char posX,signed char posY)
 {
     bool result=false;
-    char newPosX = posX;
-    char newPosY = posY;
-    unsigned char templateX = 0;
-    unsigned char templateY = 0;
+    signed char newPosX = posX;
+    signed char newPosY = posY;
+    signed char templateX = 0;
+    signed char templateY = 0;
     int i=0;
+    
     //string theMap;
     //theMap.clear();
-    debug(DEBUGLABSEARCHCOORD,"------Search coord------");
+    debug(DEBUGLABSEARCHCOORD,"------Search coord------\n\r");
     debug(DEBUGLABSEARCHCOORD," posX: %i posY: %i \n\r",posX,posY);
     
     
@@ -266,9 +297,15 @@
     for( ; ((i*DEFAULTLABLEIGHT) < mapDuLabyrinthe.size()) && (!result); i++) {
        
         templateX = (mapDuLabyrinthe[(i*DEFAULTLABLEIGHT)])>>1;
-        templateY = (((mapDuLabyrinthe[(i*DEFAULTLABLEIGHT)])&1)<<7) | ((mapDuLabyrinthe[(i*DEFAULTLABLEIGHT)+1])>>2);
+        templateY = (((mapDuLabyrinthe[(i*DEFAULTLABLEIGHT)])&1)<<6) + ((mapDuLabyrinthe[(i*DEFAULTLABLEIGHT)+1])>>2);
+        
+        //patch pour les nombre negatif vue que originelment on est sur un 7 bit
+        if(templateX & 0x40) templateX |= 0x80;
+        if(templateY & 0x40) templateY |= 0x80;
+        
         //templateY += ((mapDuLabyrinthe[(i*DEFAULTLABLEIGHT)+1])>>2);
-
+        debug(DEBUGLABSEARCHCOORD," mapDuLabyrinthe par1: %i mapDuLabyrinthe part2: %i \n\r",mapDuLabyrinthe[(i*DEFAULTLABLEIGHT)],mapDuLabyrinthe[(i*DEFAULTLABLEIGHT)+1]);
+        debug(DEBUGLABSEARCHCOORD," templateX: %i templateY: %i \n\r",templateX,templateY);
         if((templateX == newPosX) && (templateY == newPosY)) {
             result=true;
             //theMap.append(1,((mapDuLabyrinthe[(i*DEFAULTLABLEIGHT)+1])& 3));
@@ -279,7 +316,7 @@
     debug(DEBUGLABSEARCHCOORD," templateY: %i \n\r",templateY);
     debug(DEBUGLABSEARCHCOORD," result: %i \n\r",result?1:0);
     debug(DEBUGLABSEARCHCOORD," i*DEFAULTLABLEIGHT: %i \n\r",i*DEFAULTLABLEIGHT); 
-    debug(DEBUGLABSEARCHCOORD,"--------------------");
+    debug(DEBUGLABSEARCHCOORD,"--------------------\n\r");
     return (result==false? -1:i*DEFAULTLABLEIGHT);
 }
 
@@ -292,65 +329,76 @@
 * @param y position Y.
 * @return 
 */
-case_t Labyrinthe::getC(char x, char y)
+case_t Labyrinthe::getC(signed char x, signed char y)
 {
-    char newPosX = x;
-    char newPosY = y;
+    signed char newPosX = x;
+    signed char newPosY = y;
     coordonerr maCoordoner;
     maCoordoner=getCoordoner(newPosX,newPosY);
     
  return  getC(x, y, maCoordoner);
 }
 
-case_t Labyrinthe::getC(char x, char y, coordonerr cX)
+case_t Labyrinthe::getC(signed char x, signed char y, coordonerr cX)
 {
-    char myCoordoner = 0xFF;
-    string result = showMap(x,y);
-    if(result.size() != 0) {
-        myCoordoner= result[cX];
-    }
-    return (case_t)myCoordoner;
-}
-void Labyrinthe::setC(case_t value, char x, char y, coordonerr cX)
-{
-    #ifdef DEGUG_LABIRINTH_SET_COORDONER
-        debug("------SetC coord------");
-        #endif
+    case_t myCoordoner = error;
     string result = showMap(x,y);
     if(result.size() != 0) {
-        result[cX-1]=value;
-        
-        
-        #ifdef DEGUG_LABIRINTH_SET_COORDONER
-        debug("\n\r  Labyrinthe map: X:%02x Y:%02x \n\r",x,y);
-        debug("value: %i\n\r",value);
+        myCoordoner = case_t(result[cX]);
+    }
+    return myCoordoner;
+}
+void Labyrinthe::setC(case_t value, signed char x, signed char y, coordonerr cX)
+{
+    #ifdef DEGUG_LABIRINTH_SET_COORDONER
+        debug("------SetC coord------\n\r");
+        debug(" value: %i\n\r",value);
         debug("coordoner: %i\n\r",cX);
-        for(int i=0; i<3; i++) debug(" [%02X] ",result[i+6]);
-        debug("\n\r");
-        for(int i=0; i<3; i++) debug(" [%02X] ",result[i+3]);
-        debug("\n\r");
-        for(int i=0; i<3; i++) debug(" [%02X] ",result[i]);
-        debug("\n\r");
+        debug("  X:%i Y:%i \n\r",x,y);
+        #endif
+    
+    if(value != error){
+        string result = showMap(x,y);
+        
+        if(result.size() == 0) {//no map found so we create new tuile
+        #ifdef DEGUG_LABIRINTH_SET_COORDONER
+        debug(" no tuile found\n\r");
         #endif
+            signed char newPosX = x;
+            signed char newPosY = y;   
+            
+            getCoordoner(newPosX,newPosY);
+            addMap(newPosX,newPosY);
+            result = showMap(x,y);
+            #ifdef DEGUG_LABIRINTH_SET_COORDONER
+            debug(" result: %i\n\r",result.size());
+            #endif
+        }
         
-    updateMap(result,x,y);
-        
+        if(result.size() != 0){   
         #ifdef DEGUG_LABIRINTH_SET_COORDONER
-        debug("---------------------");
+        debug(" tuile found\n\r");
         #endif
+        result[cX-1]=value;
+        updateMap(result,x,y);//on remet les case modifier dans le string==map
+        }
     }
+        
+     #ifdef DEGUG_LABIRINTH_SET_COORDONER
+        debug("---------------------\n\r");
+        #endif
 }
 void Labyrinthe::setC(case_t value, coordonerr cX)
 {
     setC(value,m_posX, m_posY,cX);
 }
-void Labyrinthe::setC(case_t value, char x, char y)
+void Labyrinthe::setC(case_t value, signed char x, signed char y)
 {
-    char newPosX = x;
-    char newPosY = y;
+    signed char newPosX = x;
+    signed char newPosY = y;
     coordonerr maCoordoner;
     maCoordoner=getCoordoner(newPosX,newPosY);
-    
+    debug("-setcase tempo newPosX: %i, x: %i\n\r",newPosX,x);
     setC(value,x,y,maCoordoner);
 }
 void Labyrinthe::setC_Up(case_t value)

--- a/labyrinthe.h	Sun Sep 13 06:56:09 2015 +0000
+++ b/labyrinthe.h	Tue Sep 29 17:23:25 2015 +0000
@@ -10,7 +10,7 @@
   
 #define DEFAULTLABLEIGHT 4
 #define DEBUGLABCOORD 0
-#define DEBUGLABSEARCHCOORD 1
+#define DEBUGLABSEARCHCOORD 0
 
 #include "mbed.h"
 #include "debug.h"
@@ -23,10 +23,10 @@
 #define RIGHT 4
 
 
-#define VIDE 3
+/*#define VIDE 3
 #define EXPLORER 1
 #define MUR 2
-#define PAS_EXPLORER 0
+#define PAS_EXPLORER 0*/
 
 // 1 tuile == 4 byte
 
@@ -34,11 +34,11 @@
     
 class Labyrinthe
 {
-char m_posX,m_posY;
+signed char m_posX,m_posY;
 char direction;
 string mapDuLabyrinthe;
 
-int searchCoord(char posX,char posY);
+
 
 public:
 enum coordoner_t{
@@ -58,6 +58,7 @@
     };
     
     enum case_t{
+        error       =-1,
         pasExplorer = 0,
         explorer    = 1,
         mur         = 2,
@@ -70,26 +71,25 @@
 char getDirection(){return direction;}
 void setDirection(char dir){direction= dir;}
 
-char getX(void){return m_posX;}
-void setX(char x){m_posX = x;}
+signed char getX(void){return m_posX;}
+void setX(signed char x){m_posX = x;}
 
-char getY(void){return m_posY;}
-void getY(char y){m_posY = y;}
+signed char getY(void){return m_posY;}
+void getY(signed char y){m_posY = y;}
 
 void goUp(void){m_posY++;}
 void goDown(void){m_posY--;}
 void goLeft(void){m_posX--;}
-void posRight(void){m_posX++;}
+void goRight(void){m_posX++;}
 
-coordoner_t getCoordoner(char &x, char &y);
-coordoner_t getCoordoner(void);
+
 
 case_t getC(coordoner_t cX);
-case_t getC(char x, char y, coordoner_t cX);
-case_t getC(char x, char y);
-void setC(case_t value, char x, char y, coordoner_t cX);
+case_t getC(signed char x, signed char y, coordoner_t cX);
+case_t getC(signed char x, signed char y);
+void setC(case_t value, signed char x, signed char y, coordoner_t cX);
 void setC(case_t value, coordoner_t cX);
-void setC(case_t value, char x, char y);
+void setC(case_t value, signed char x, signed char y);
 
 void setC_Up(case_t value);
 void setC_Down(case_t value);
@@ -109,12 +109,20 @@
        * @param y position Y.
        * @return The formated map 3x3 result
        */
-        string showMap(char x, char y);
+        string showMap(signed char x, signed char y);
+
+
+
 
-bool updateMap(string mapUpdated);
-bool updateMap(string mapUpdated,char x, char y);
-bool addMap(char x, char y);
+    private:
+    int searchCoord(signed char posX,signed char posY);
 
+    coordoner_t getCoordoner(signed char &x, signed char &y);
+    coordoner_t getCoordoner(void);
+    
+    bool updateMap(string mapUpdated);
+    bool updateMap(string mapUpdated,signed char x, signed char y);
+    bool addMap(signed char x, signed char y);
 
 };
 #endif //LABYRINTHE_H//
\ No newline at end of file

--- a/main.cpp	Sun Sep 13 06:56:09 2015 +0000
+++ b/main.cpp	Tue Sep 29 17:23:25 2015 +0000
@@ -75,7 +75,7 @@
         #ifdef DBG_MAIN_INIT
         debug("\n\rInit taskGeneral ...");
         #endif
-            TTaskGeneral taskGeneral(20);
+            TTaskGeneral taskGeneral(2/*0*/);
         #ifdef DBG_MAIN_INIT 
         debug(" end taskGeneral");
         #endif
@@ -123,6 +123,7 @@
             #endif
             
             #ifdef DBG_MAIN_DELAY_SEC
+            debug("\n\r\n TICK \n\r\n");
             wait(DBG_MAIN_DELAY_SEC);
             #endif          
         #endif

--- a/mbed.bld	Sun Sep 13 06:56:09 2015 +0000
+++ b/mbed.bld	Tue Sep 29 17:23:25 2015 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/mbed_official/code/mbed/builds/b9ad9a133dc7
\ No newline at end of file
+http://mbed.org/users/mbed_official/code/mbed/builds/ba1f97679dad
\ No newline at end of file

--- a/settingDebug.h	Sun Sep 13 06:56:09 2015 +0000
+++ b/settingDebug.h	Tue Sep 29 17:23:25 2015 +0000
@@ -8,9 +8,10 @@
 
 #define DBG_MAIN_INIT //enable to make sure all task is created
     #define DEBUG_INIT_TASKCRITT 1
-    #define DBG_MAIN_DELAY_SEC 2 
+    #define DBG_MAIN_DELAY_SEC 1 
 #define DEBUG_BOOT_GRAPHICAL_INTERFACE // enable ANSI interface to view all process 
 #define DEBUG_DIRECTIVE_GRAPHICAL_INTERFACE // enable ANSI interface to view directive process 
+//#define DEBUG_LABYRINTHE_GRAPHICAL_INTERFACE
 
 //#define DBG_MAIN_FLAG //Show Flag trought each process
 
@@ -19,8 +20,12 @@
     
 #define DEBUG_MOUVEMENT_COMM_OFF    //disable comm with ssc-32
 
+#define DEBUG_DIRECTIVE_LEG_DISABLE //skip all linked whit the control of leg
+#define DEBUG_DIRECTIVE_LABYRINTH_USER_CTRL // chose manualy what robot see
 //#define DEBUG_LABYRINTHE_ADD_MAP //show process "addmap(char x, char y)"
 
-#define DEGUG_LABIRINTH_GET_COORDONER
-#define DEGUG_LABIRINTH_SET_COORDONER
+//#define DEGUG_LABIRINTH_GET_COORDONER
+//#define DEGUG_LABIRINTH_SET_COORDONER
+//#define DEBUG_LABYRINTHE_ADD_MAP
+//#define DEBUG_LABYRINTHE_SHOW_MAP
 #endif
\ No newline at end of file

--- a/source/Task/TTaskGeneral.h	Sun Sep 13 06:56:09 2015 +0000
+++ b/source/Task/TTaskGeneral.h	Tue Sep 29 17:23:25 2015 +0000
@@ -3,7 +3,7 @@
   * @brief      Cette classe controle tout ce qui ce relie au Flag Critique et a la gestion prioritaire.
   * @author     Salco
   * @version    2.00
-  * @date       11 mars 2015
+  * @date       11 june 2015
   */
 #ifndef TTASKGENERAL_H
 #define TTASKGENERAL_H