ALGORITHM.hpp

00001 /*
00002 This is the ALGORITHM class and it will be used tgo determine the move sequence the motors need to enact upon.
00003 */
00004 
00005 #ifndef ALGORITHM_HPP//Header Guards Prevents Multiple includes
00006 #define ALGORITHM_HPP
00007 
00008 //Libraries and header includes
00009 #include "THREADS.hpp"
00010 #include "mbed.h"
00011 #include "rtos.h"
00012 #include "SERIAL.hpp"
00013 #include "COLOURS.hpp"
00014 
00015 enum Colours//The posible colours of each point on the cube map
00016 {
00017     White,//Front
00018     Red,//Upper
00019     Orange,//Down
00020     Blue,//Left
00021     Green,//Right
00022     Yellow//Back   
00023 };
00024 static Colours CubeMap[6][3][3];//The colours of each section on the cube map
00025 
00026 enum Moves//This is an enumeration of the different tpyes of moves which will be avalible
00027 {
00028        CL,AL,
00029        CF,AF,
00030        CR,AR,
00031        CB,AB,
00032        CU,AU,
00033        CD,AD
00034        
00035 };
00036 class ALGORITHM                       //This creates a class called Led
00037 { 
00038 public: 
00039     
00040     ALGORITHM(); //Constructor
00041     ~ALGORITHM();//Destructor
00042     void ALGORITHM_INIT();
00043     void Find_edges();//Sets the internal variable to the location of all the pieces and the positions of them
00044     void Find_Corners();//Finds the corners with the colour that is passed into them
00045 private:    
00046     //Private member variables to prevent them being accessed externally 
00047     //Data Pins
00048     int _State;
00049     //Pointers to the lists elements
00050     int _White_Pointer_Edge;
00051     int _Orange_Pointer_Edge;
00052     int _Blue_Pointer_Edge;
00053     int _Red_Pointer_Edge;
00054     int _Green_Pointer_Edge;
00055     int _Yellow_Pointer_Edge;
00056     
00057     int _White_Pointer_Corner;
00058     int _Orange_Pointer_Corner;
00059     int _Blue_Pointer_Corner;
00060     int _Red_Pointer_Corner;
00061     int _Green_Pointer_Corner;
00062     int _Yellow_Pointer_Corner;    
00063     //Lists with the positions of the colours
00064     int _White_List_Edge[4];
00065     int _Orange_List_Edge[4];
00066     int _Blue_List_Edge[4];
00067     int _Red_List_Edge[4];
00068     int _Green_List_Edge[4];
00069     int _Yellow_List_Edge[4];
00070     
00071     int _White_List_Corner[4];
00072     int _Orange_List_Corner[4];
00073     int _Blue_List_Corner[4];
00074     int _Red_List_Corner[4];
00075     int _Green_List_Corner[4];
00076     int _Yellow_List_Corner[4];
00077 
00078 
00079     //Private member functions
00080     void _Find_edges_White();//Identify White edges
00081     void _Find_Corners_White();//Identify White edges
00082     void _Find_edges_Orange();//Identify White edges
00083     void _Find_Corners_Orange();//Identify White edges
00084     void _Find_edges_Blue();//Identify White edges
00085     void _Find_Corners_Blue();//Identify White edges
00086     void _Find_edges_Red();//Identify White edges
00087     void _Find_Corners_Red();//Identify White edges
00088     void _Find_edges_Green();//Identify White edges
00089     void _Find_Corners_Green();//Identify White edges
00090     void _Find_edges_Yellow();//Identify White edges
00091     void _Find_Corners_Yellow();//Identify White edges
00092 };
00093 class SIDE                       //This creates a class called Led
00094 { 
00095 public: 
00096     
00097     SIDE(); //Constructor
00098     ~SIDE();//Destructor
00099     int SIDE_type();
00100     
00101     void Set_Colours(int CP1,int CP2,int CP3,int CP4,int CP5,int CP6,int CP7,int CP8,int CP9);
00102 private:    
00103     //Private member variables to prevent them being accessed externally 
00104 
00105     //Positions of the cubelets
00106     int _Cubelet_1_position;
00107     int _Cubelet_2_position;
00108     int _Cubelet_3_position;
00109     int _Cubelet_4_position;
00110     int _Cubelet_5_position;
00111     int _Cubelet_6_position;
00112     int _Cubelet_7_position;
00113     int _Cubelet_8_position;
00114     int _Cubelet_9_position;
00115     
00116     int _Cubelet_1_colour;
00117     int _Cubelet_2_colour;
00118     int _Cubelet_3_colour;
00119     int _Cubelet_4_colour;
00120     int _Cubelet_5_colour;
00121     int _Cubelet_6_colour;
00122     int _Cubelet_7_colour;
00123     int _Cubelet_8_colour;
00124     int _Cubelet_9_colour;
00125   
00126 };
00127 
00128 
00129 #endif//ALGORITHM_HPP