FisionX/mms-sim
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Funcion para girar el mouse a la direccion correcta

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Fernando 2024-08-09 01:03:00 -06:00
parent 0ba516d684
commit 4ddb702862
2 changed files with 53 additions and 12 deletions
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63
main.cpp
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@ -24,6 +24,9 @@ struct fill {
};
void flood(struct maze*, struct mmstats*);
void follow(struct maze maze, class mmstats mms);
int* nextcell(int i, int j, int dir, int ndir[2]);
void flood(struct maze* maze, struct mmstats* mmstats) {
int i, j;
int prevNum;
@ -58,6 +61,8 @@ void flood(struct maze* maze, struct mmstats* mmstats) {
if (mmstats->x == i && mmstats->y == j) {
log("flood end");
API::setText(i, j, prevNum+1);
maze->mhtn[i][j] = prevNum+1;
break;
}
@ -77,20 +82,40 @@ void flood(struct maze* maze, struct mmstats* mmstats) {
}
}
void follow(struct maze maze, class mmstats mms) {
void follow(struct maze maze, class mmstats* mms) {
/* para que el micromouse siga el camino descendente
* se tienen que dar 16 estados, esta funcion lo reduce a 4
*/
int x = mms.x;
int y = mms.y;
int mht = maze.mhtn[x][y];
int mht = maze.mhtn[mms->x][mms->y];
int nextmht = mht-1;
int next[2];
if (mht > maze.mhtn[x][y+1]) {
next[0] = x;
nextcell(mms->x, mms->y, mms->dir, next);
if(maze.mhtn[next[0]][next[1]] == nextmht) {
log("forward");
return;
}
nextcell(mms->x, mms->y, mms->head->prev->value, next);
if(maze.mhtn[next[0]][next[1]] == nextmht) {
API::turnLeft();
mms->turn(left);
log("left");
return;
}
nextcell(mms->x, mms->y, mms->head->next->value, next);
if(maze.mhtn[next[0]][next[1]] == nextmht) {
API::turnRight();
mms->turn(right);
log("right");
return;
}
API::turnRight();
mms->turn(right);
API::turnRight();
mms->turn(right);
log("180");
}
void nextcell(int i, int j, int dir, int& nextx, int& nexty) {
int* nextcell(int i, int j, int dir, int ndir[2]) {
switch (dir) {
case norte: j++;
break;
@ -101,8 +126,9 @@ void nextcell(int i, int j, int dir, int& nextx, int& nexty) {
case oeste: i--;
break;
}
nextx = i;
nexty = j;
ndir[0] = i;
ndir[1] = j;
return ndir;
}
void updatepos(class mmstats* mms) {
@ -126,13 +152,24 @@ int main(int argc, char* argv[]) {
log("Running...");
API::setColor(0, 0, 'G');
// API::setText(0, 0, "abc");
API::setWall(1, 0, 'e');
mmstats stats;
stats.x = 0;
stats.y = 0;
flood(&maze, &stats);
while (true) {
follow(maze, &stats);
API::moveForward();
updatepos(&stats);
if(maze.mhtn[stats.x][stats.y] == 0){
log("Finish");
return 0;
}
log(stats.x);
log(stats.y);
log("");
}
/*
while (true) {
if (!API::wallLeft()) {
API::turnLeft();
@ -144,5 +181,9 @@ int main(int argc, char* argv[]) {
}
API::moveForward();
updatepos(&stats);
log(stats.x);
log(stats.y);
log("");
}
*/
}