Václav Lízner / Mbed 2 deprecated 2048

school project

Dependencies:   MMA8451Q mbed

main.cpp@7:29f6c0e0b427, 2016-01-13 (annotated)

Committer:
xlizne01
Date:
Wed Jan 13 22:26:31 2016 +0000
Revision:
7:29f6c0e0b427
Parent:
6:5711a5b57d17
Child:
8:5f485026374d
komplet funkcni krome kontrolz pokud se pohne smerem, kterym se nic nezmeni

Who changed what in which revision?

UserRevisionLine numberNew contents of line
xlizne01 0:ae588eb31707 1 #include "mbed.h"
xlizne01 1:b23831b703fe 2 #include "MMA8451Q.h"
xlizne01 1:b23831b703fe 3
xlizne01 1:b23831b703fe 4 #define MMA8451_I2C_ADDRESS (0x1d<<1)
xlizne01 5:d6738e1238d8 5 #define MOVE_ANGLE 35 // > degrees for move
xlizne01 2:3278e4fd8fc2 6
xlizne01 7:29f6c0e0b427 7 //Ticker tick;
xlizne01 7:29f6c0e0b427 8
xlizne01 2:3278e4fd8fc2 9 MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS);
xlizne01 2:3278e4fd8fc2 10
xlizne01 2:3278e4fd8fc2 11 void accelerometer(void);
xlizne01 3:94bfc4de4ab1 12 void zobrazeni(void);
xlizne01 3:94bfc4de4ab1 13 void barva(int,int);
xlizne01 4:4930b1cb20bd 14 void pohyb(void);
xlizne01 6:5711a5b57d17 15 void proved(int);
xlizne01 7:29f6c0e0b427 16 void pridej(void);
xlizne01 2:3278e4fd8fc2 17
xlizne01 6:5711a5b57d17 18 int i,j,k;
xlizne01 6:5711a5b57d17 19 int p=1;
xlizne01 2:3278e4fd8fc2 20 int RED, GREEN, BLUE;
xlizne01 2:3278e4fd8fc2 21 int RledA, RledB, GledA, GledB, BledA, BledB;
xlizne01 4:4930b1cb20bd 22 float xAngle, yAngle;
xlizne01 3:94bfc4de4ab1 23
xlizne01 2:3278e4fd8fc2 24 char acc_dir;
xlizne01 3:94bfc4de4ab1 25
xlizne01 7:29f6c0e0b427 26 int pole[4][4]={{0,0,0,0}, {0,0,0,0}, {0,0,0,0}, {0,0,0,0}};
xlizne01 7:29f6c0e0b427 27 int pole2[4][4];
xlizne01 1:b23831b703fe 28
xlizne01 0:ae588eb31707 29 DigitalOut prvni(PTE5);
xlizne01 0:ae588eb31707 30 DigitalOut druhy(PTE4);
xlizne01 0:ae588eb31707 31 DigitalOut treti(PTE3);
xlizne01 0:ae588eb31707 32 DigitalOut ctvrty(PTE2);
xlizne01 0:ae588eb31707 33 DigitalOut paty(PTB11);
xlizne01 0:ae588eb31707 34 DigitalOut sesty(PTB10);
xlizne01 0:ae588eb31707 35 DigitalOut sedmy(PTB9);
xlizne01 0:ae588eb31707 36 DigitalOut osmy(PTB8);
xlizne01 0:ae588eb31707 37
xlizne01 0:ae588eb31707 38 DigitalOut Rled1(PTC9);
xlizne01 0:ae588eb31707 39 DigitalOut Rled2(PTC8);
xlizne01 0:ae588eb31707 40 DigitalOut Rled3(PTA5);
xlizne01 0:ae588eb31707 41 DigitalOut Rled4(PTA4);
xlizne01 0:ae588eb31707 42 DigitalOut Rled5(PTA12);
xlizne01 0:ae588eb31707 43 DigitalOut Rled6(PTD4);
xlizne01 0:ae588eb31707 44 DigitalOut Rled7(PTA1);
xlizne01 0:ae588eb31707 45 DigitalOut Rled8(PTA2);
xlizne01 0:ae588eb31707 46
xlizne01 0:ae588eb31707 47 DigitalOut Gled1(PTA13);
xlizne01 0:ae588eb31707 48 DigitalOut Gled2(PTD5);
xlizne01 0:ae588eb31707 49 DigitalOut Gled3(PTD0);
xlizne01 0:ae588eb31707 50 DigitalOut Gled4(PTD2);
xlizne01 0:ae588eb31707 51 DigitalOut Gled5(PTD3);
xlizne01 0:ae588eb31707 52 DigitalOut Gled6(PTD1);
xlizne01 0:ae588eb31707 53 DigitalOut Gled7(PTE31);
xlizne01 0:ae588eb31707 54 DigitalOut Gled8(PTB0);
xlizne01 0:ae588eb31707 55
xlizne01 0:ae588eb31707 56 DigitalOut Bled1(PTC1);
xlizne01 0:ae588eb31707 57 DigitalOut Bled2(PTE29);
xlizne01 0:ae588eb31707 58 DigitalOut Bled3(PTC2);
xlizne01 0:ae588eb31707 59 DigitalOut Bled4(PTB3);
xlizne01 0:ae588eb31707 60 DigitalOut Bled5(PTB2);
xlizne01 0:ae588eb31707 61 DigitalOut Bled6(PTE21);
xlizne01 0:ae588eb31707 62 DigitalOut Bled7(PTE20);
xlizne01 0:ae588eb31707 63 DigitalOut Bled8(PTB1);
xlizne01 0:ae588eb31707 64
xlizne01 0:ae588eb31707 65
xlizne01 0:ae588eb31707 66 int main()
xlizne01 0:ae588eb31707 67 {
xlizne01 7:29f6c0e0b427 68 //tick.attach(&zobrazeni, 0.01); // setup ticker to call zobrazeni
xlizne01 7:29f6c0e0b427 69 pridej();
xlizne01 7:29f6c0e0b427 70 pridej();
xlizne01 7:29f6c0e0b427 71
xlizne01 3:94bfc4de4ab1 72 while(1)
xlizne01 3:94bfc4de4ab1 73 {
xlizne01 4:4930b1cb20bd 74 accelerometer();
xlizne01 7:29f6c0e0b427 75 pohyb();
xlizne01 4:4930b1cb20bd 76 zobrazeni();
xlizne01 0:ae588eb31707 77 }
xlizne01 3:94bfc4de4ab1 78 }
xlizne01 7:29f6c0e0b427 79
xlizne01 7:29f6c0e0b427 80 void pridej()
xlizne01 7:29f6c0e0b427 81 {
xlizne01 7:29f6c0e0b427 82 int f;
xlizne01 7:29f6c0e0b427 83 int g=1;
xlizne01 7:29f6c0e0b427 84 int suma=0;
xlizne01 7:29f6c0e0b427 85
xlizne01 7:29f6c0e0b427 86 for(int a=0;a<4;a++)
xlizne01 7:29f6c0e0b427 87 {
xlizne01 7:29f6c0e0b427 88 for(int b=0;b<4;b++)
xlizne01 7:29f6c0e0b427 89 {
xlizne01 7:29f6c0e0b427 90 if(pole[a][b]==0)
xlizne01 7:29f6c0e0b427 91 suma=1;
xlizne01 7:29f6c0e0b427 92 }
xlizne01 7:29f6c0e0b427 93 }
xlizne01 7:29f6c0e0b427 94 if(suma==1) // pridani cisla
xlizne01 7:29f6c0e0b427 95 {
xlizne01 7:29f6c0e0b427 96 accelerometer();
xlizne01 7:29f6c0e0b427 97 xAngle=(xAngle*yAngle*100);
xlizne01 7:29f6c0e0b427 98 f=int(xAngle)%16;
xlizne01 7:29f6c0e0b427 99
xlizne01 7:29f6c0e0b427 100 while(g==1)
xlizne01 7:29f6c0e0b427 101 {
xlizne01 7:29f6c0e0b427 102 f++;
xlizne01 7:29f6c0e0b427 103 if(f==16)
xlizne01 7:29f6c0e0b427 104 {
xlizne01 7:29f6c0e0b427 105 f=0;
xlizne01 7:29f6c0e0b427 106 }
xlizne01 7:29f6c0e0b427 107
xlizne01 7:29f6c0e0b427 108 if(pole[f/4][f%4]==0)
xlizne01 7:29f6c0e0b427 109 {
xlizne01 7:29f6c0e0b427 110 pole[f/4][f%4]=2;
xlizne01 7:29f6c0e0b427 111 g=0;
xlizne01 7:29f6c0e0b427 112 }
xlizne01 7:29f6c0e0b427 113 }
xlizne01 7:29f6c0e0b427 114 }
xlizne01 7:29f6c0e0b427 115 }
xlizne01 7:29f6c0e0b427 116
xlizne01 7:29f6c0e0b427 117
xlizne01 7:29f6c0e0b427 118
xlizne01 4:4930b1cb20bd 119
xlizne01 4:4930b1cb20bd 120 void pohyb()
xlizne01 4:4930b1cb20bd 121 {
xlizne01 4:4930b1cb20bd 122 switch(acc_dir)
xlizne01 4:4930b1cb20bd 123 {
xlizne01 7:29f6c0e0b427 124 case 'D': //pohyb smerem dolu
xlizne01 7:29f6c0e0b427 125 if(p==0)
xlizne01 7:29f6c0e0b427 126 {
xlizne01 7:29f6c0e0b427 127 proved(1);
xlizne01 7:29f6c0e0b427 128 p=1;
xlizne01 7:29f6c0e0b427 129 }
xlizne01 7:29f6c0e0b427 130 break;
xlizne01 7:29f6c0e0b427 131
xlizne01 7:29f6c0e0b427 132 case 'R': // pohyb smerem vpravo
xlizne01 7:29f6c0e0b427 133 if(p==0)
xlizne01 7:29f6c0e0b427 134 {
xlizne01 7:29f6c0e0b427 135 proved(2);
xlizne01 7:29f6c0e0b427 136 p=1;
xlizne01 7:29f6c0e0b427 137 }
xlizne01 7:29f6c0e0b427 138 break;
xlizne01 7:29f6c0e0b427 139
xlizne01 7:29f6c0e0b427 140 case 'U': // pohyb smerem nahoru
xlizne01 7:29f6c0e0b427 141 if(p==0)
xlizne01 7:29f6c0e0b427 142 {
xlizne01 7:29f6c0e0b427 143 proved(3);
xlizne01 7:29f6c0e0b427 144 p=1;
xlizne01 7:29f6c0e0b427 145 }
xlizne01 7:29f6c0e0b427 146 break;
xlizne01 7:29f6c0e0b427 147
xlizne01 7:29f6c0e0b427 148 case 'L': // pohyb smerem vlevo
xlizne01 7:29f6c0e0b427 149 if(p==0)
xlizne01 7:29f6c0e0b427 150 {
xlizne01 7:29f6c0e0b427 151 proved(4);
xlizne01 7:29f6c0e0b427 152 p=1;
xlizne01 7:29f6c0e0b427 153 }
xlizne01 7:29f6c0e0b427 154 break;
xlizne01 7:29f6c0e0b427 155
xlizne01 7:29f6c0e0b427 156 case '0': // detekovana nulova pozice
xlizne01 7:29f6c0e0b427 157 p=0;
xlizne01 7:29f6c0e0b427 158 break;
xlizne01 7:29f6c0e0b427 159
xlizne01 7:29f6c0e0b427 160 default:
xlizne01 7:29f6c0e0b427 161 break;
xlizne01 4:4930b1cb20bd 162 }
xlizne01 4:4930b1cb20bd 163 }
xlizne01 4:4930b1cb20bd 164
xlizne01 6:5711a5b57d17 165 void proved(int x)
xlizne01 6:5711a5b57d17 166 {
xlizne01 6:5711a5b57d17 167 int a,b,c,d,n;
xlizne01 6:5711a5b57d17 168
xlizne01 6:5711a5b57d17 169 for(n=0;n<4;n++)
xlizne01 6:5711a5b57d17 170 {
xlizne01 7:29f6c0e0b427 171 for(int k=0;k<4;k++)
xlizne01 7:29f6c0e0b427 172 {
xlizne01 7:29f6c0e0b427 173 for(int l=0;l<4;l++)
xlizne01 7:29f6c0e0b427 174 {
xlizne01 7:29f6c0e0b427 175 pole2[k][l]=pole[k][l];
xlizne01 7:29f6c0e0b427 176 }
xlizne01 7:29f6c0e0b427 177 }
xlizne01 6:5711a5b57d17 178
xlizne01 6:5711a5b57d17 179 if(x==1) // dolu
xlizne01 6:5711a5b57d17 180 {
xlizne01 6:5711a5b57d17 181 a=pole[n][0];
xlizne01 6:5711a5b57d17 182 b=pole[n][1];
xlizne01 6:5711a5b57d17 183 c=pole[n][2];
xlizne01 6:5711a5b57d17 184 d=pole[n][3];
xlizne01 6:5711a5b57d17 185 }
xlizne01 6:5711a5b57d17 186
xlizne01 6:5711a5b57d17 187 if(x==2) // vpravo
xlizne01 6:5711a5b57d17 188 {
xlizne01 6:5711a5b57d17 189 a=pole[3][n];
xlizne01 6:5711a5b57d17 190 b=pole[2][n];
xlizne01 6:5711a5b57d17 191 c=pole[1][n];
xlizne01 6:5711a5b57d17 192 d=pole[0][n];
xlizne01 6:5711a5b57d17 193 }
xlizne01 6:5711a5b57d17 194
xlizne01 6:5711a5b57d17 195 if(x==3) // nahoru
xlizne01 6:5711a5b57d17 196 {
xlizne01 6:5711a5b57d17 197 a=pole[n][3];
xlizne01 6:5711a5b57d17 198 b=pole[n][2];
xlizne01 6:5711a5b57d17 199 c=pole[n][1];
xlizne01 6:5711a5b57d17 200 d=pole[n][0];
xlizne01 6:5711a5b57d17 201 }
xlizne01 6:5711a5b57d17 202
xlizne01 6:5711a5b57d17 203 if(x==4) // vlevo
xlizne01 6:5711a5b57d17 204 {
xlizne01 6:5711a5b57d17 205 a=pole[0][n];
xlizne01 6:5711a5b57d17 206 b=pole[1][n];
xlizne01 6:5711a5b57d17 207 c=pole[2][n];
xlizne01 6:5711a5b57d17 208 d=pole[3][n];
xlizne01 6:5711a5b57d17 209 }
xlizne01 6:5711a5b57d17 210
xlizne01 6:5711a5b57d17 211 //sesypani
xlizne01 6:5711a5b57d17 212 if(a==0)
xlizne01 6:5711a5b57d17 213 {a=b; b=c; c=d; d=0;}
xlizne01 6:5711a5b57d17 214 if(a==0)
xlizne01 6:5711a5b57d17 215 {a=b; b=c; c=d; d=0;}
xlizne01 6:5711a5b57d17 216 if(a==0)
xlizne01 6:5711a5b57d17 217 {a=b; b=c; c=d; d=0;}
xlizne01 6:5711a5b57d17 218 if(b==0)
xlizne01 6:5711a5b57d17 219 {b=c; c=d; d=0;}
xlizne01 6:5711a5b57d17 220 if(b==0)
xlizne01 6:5711a5b57d17 221 {b=c; c=d; d=0;}
xlizne01 6:5711a5b57d17 222 if(c==0)
xlizne01 6:5711a5b57d17 223 {c=d; d=0;}
xlizne01 6:5711a5b57d17 224
xlizne01 6:5711a5b57d17 225 //spojeni
xlizne01 6:5711a5b57d17 226 if(a==b)
xlizne01 6:5711a5b57d17 227 {a=2*a; b=c; c=d; d=0;}
xlizne01 6:5711a5b57d17 228 if(b==c)
xlizne01 6:5711a5b57d17 229 {b=2*b; c=d; d=0;}
xlizne01 6:5711a5b57d17 230 if(c==d)
xlizne01 6:5711a5b57d17 231 {c=2*c; d=0;}
xlizne01 6:5711a5b57d17 232
xlizne01 6:5711a5b57d17 233 if(x==1) // dolu
xlizne01 6:5711a5b57d17 234 {
xlizne01 6:5711a5b57d17 235 pole[n][0]=a;
xlizne01 6:5711a5b57d17 236 pole[n][1]=b;
xlizne01 6:5711a5b57d17 237 pole[n][2]=c;
xlizne01 6:5711a5b57d17 238 pole[n][3]=d;
xlizne01 6:5711a5b57d17 239 }
xlizne01 6:5711a5b57d17 240 if(x==2) // vpravo
xlizne01 6:5711a5b57d17 241 {
xlizne01 6:5711a5b57d17 242 pole[3][n]=a;
xlizne01 6:5711a5b57d17 243 pole[2][n]=b;
xlizne01 6:5711a5b57d17 244 pole[1][n]=c;
xlizne01 6:5711a5b57d17 245 pole[0][n]=d;
xlizne01 6:5711a5b57d17 246 }
xlizne01 6:5711a5b57d17 247
xlizne01 6:5711a5b57d17 248 if(x==3) // nahoru
xlizne01 6:5711a5b57d17 249 {
xlizne01 6:5711a5b57d17 250 pole[n][3]=a;
xlizne01 6:5711a5b57d17 251 pole[n][2]=b;
xlizne01 6:5711a5b57d17 252 pole[n][1]=c;
xlizne01 6:5711a5b57d17 253 pole[n][0]=d;
xlizne01 6:5711a5b57d17 254 }
xlizne01 6:5711a5b57d17 255
xlizne01 6:5711a5b57d17 256 if(x==4) // vlevo
xlizne01 6:5711a5b57d17 257 {
xlizne01 6:5711a5b57d17 258 pole[0][n]=a;
xlizne01 6:5711a5b57d17 259 pole[1][n]=b;
xlizne01 6:5711a5b57d17 260 pole[2][n]=c;
xlizne01 6:5711a5b57d17 261 pole[3][n]=d;
xlizne01 7:29f6c0e0b427 262 }
xlizne01 7:29f6c0e0b427 263 }
xlizne01 7:29f6c0e0b427 264 pridej();
xlizne01 6:5711a5b57d17 265 }
xlizne01 3:94bfc4de4ab1 266
xlizne01 3:94bfc4de4ab1 267 void zobrazeni()
xlizne01 3:94bfc4de4ab1 268 {
xlizne01 3:94bfc4de4ab1 269 for(k=0;k<4;k++)
xlizne01 3:94bfc4de4ab1 270 {
xlizne01 3:94bfc4de4ab1 271 prvni=0;
xlizne01 3:94bfc4de4ab1 272 druhy=0;
xlizne01 3:94bfc4de4ab1 273 treti=0;
xlizne01 3:94bfc4de4ab1 274 ctvrty=0;
xlizne01 3:94bfc4de4ab1 275 paty=0;
xlizne01 3:94bfc4de4ab1 276 sesty=0;
xlizne01 3:94bfc4de4ab1 277 sedmy=0;
xlizne01 3:94bfc4de4ab1 278 osmy=0;
xlizne01 3:94bfc4de4ab1 279
xlizne01 7:29f6c0e0b427 280 wait(0.00005); //proti tzv. duchum
xlizne01 7:29f6c0e0b427 281
xlizne01 3:94bfc4de4ab1 282 if(k==0)
xlizne01 0:ae588eb31707 283 {
xlizne01 3:94bfc4de4ab1 284 prvni=1;
xlizne01 3:94bfc4de4ab1 285 druhy=1;
xlizne01 0:ae588eb31707 286 }
xlizne01 3:94bfc4de4ab1 287
xlizne01 3:94bfc4de4ab1 288 if(k==1)
xlizne01 0:ae588eb31707 289 {
xlizne01 3:94bfc4de4ab1 290 treti=1;
xlizne01 3:94bfc4de4ab1 291 ctvrty=1;
xlizne01 0:ae588eb31707 292 }
xlizne01 3:94bfc4de4ab1 293
xlizne01 3:94bfc4de4ab1 294 if(k==2)
xlizne01 0:ae588eb31707 295 {
xlizne01 3:94bfc4de4ab1 296 paty=1;
xlizne01 3:94bfc4de4ab1 297 sesty=1;
xlizne01 0:ae588eb31707 298 }
xlizne01 3:94bfc4de4ab1 299
xlizne01 3:94bfc4de4ab1 300 if(k==3)
xlizne01 0:ae588eb31707 301 {
xlizne01 3:94bfc4de4ab1 302 sedmy=1;
xlizne01 3:94bfc4de4ab1 303 osmy=1;
xlizne01 0:ae588eb31707 304 }
xlizne01 0:ae588eb31707 305
xlizne01 3:94bfc4de4ab1 306 for(j=0;j<4;j++)
xlizne01 3:94bfc4de4ab1 307 {
xlizne01 3:94bfc4de4ab1 308
xlizne01 3:94bfc4de4ab1 309 barva(j,k);
xlizne01 3:94bfc4de4ab1 310
xlizne01 7:29f6c0e0b427 311 for(i=11;i>0;i--)
xlizne01 3:94bfc4de4ab1 312 {
xlizne01 3:94bfc4de4ab1 313 if(RED>0)
xlizne01 3:94bfc4de4ab1 314 {
xlizne01 3:94bfc4de4ab1 315 RledA=1;
xlizne01 3:94bfc4de4ab1 316 RledB=1;
xlizne01 3:94bfc4de4ab1 317 }
xlizne01 3:94bfc4de4ab1 318 else
xlizne01 3:94bfc4de4ab1 319 {
xlizne01 3:94bfc4de4ab1 320 RledA=0;
xlizne01 3:94bfc4de4ab1 321 RledB=0;
xlizne01 3:94bfc4de4ab1 322 }
xlizne01 0:ae588eb31707 323
xlizne01 3:94bfc4de4ab1 324 if(GREEN>0)
xlizne01 3:94bfc4de4ab1 325 {
xlizne01 3:94bfc4de4ab1 326 GledA=1;
xlizne01 3:94bfc4de4ab1 327 GledB=1;
xlizne01 3:94bfc4de4ab1 328 }
xlizne01 3:94bfc4de4ab1 329 else
xlizne01 3:94bfc4de4ab1 330 {
xlizne01 3:94bfc4de4ab1 331 GledA=0;
xlizne01 3:94bfc4de4ab1 332 GledB=0;
xlizne01 3:94bfc4de4ab1 333 }
xlizne01 3:94bfc4de4ab1 334
xlizne01 3:94bfc4de4ab1 335 if(BLUE>0)
xlizne01 3:94bfc4de4ab1 336 {
xlizne01 3:94bfc4de4ab1 337 BledA=1;
xlizne01 3:94bfc4de4ab1 338 BledB=1;
xlizne01 3:94bfc4de4ab1 339 }
xlizne01 3:94bfc4de4ab1 340 else
xlizne01 3:94bfc4de4ab1 341 {
xlizne01 3:94bfc4de4ab1 342 BledA=0;
xlizne01 3:94bfc4de4ab1 343 BledB=0;
xlizne01 3:94bfc4de4ab1 344 }
xlizne01 0:ae588eb31707 345
xlizne01 3:94bfc4de4ab1 346 if(j==0)
xlizne01 3:94bfc4de4ab1 347 {
xlizne01 3:94bfc4de4ab1 348 Rled1=RledA;
xlizne01 3:94bfc4de4ab1 349 Rled2=RledB;
xlizne01 3:94bfc4de4ab1 350 Gled1=GledA;
xlizne01 3:94bfc4de4ab1 351 Gled2=GledB;
xlizne01 3:94bfc4de4ab1 352 Bled1=BledA;
xlizne01 3:94bfc4de4ab1 353 Bled2=BledB;
xlizne01 3:94bfc4de4ab1 354 }
xlizne01 3:94bfc4de4ab1 355
xlizne01 3:94bfc4de4ab1 356 if(j==1)
xlizne01 3:94bfc4de4ab1 357 {
xlizne01 3:94bfc4de4ab1 358 Rled3=RledA;
xlizne01 3:94bfc4de4ab1 359 Rled4=RledB;
xlizne01 3:94bfc4de4ab1 360 Gled3=GledA;
xlizne01 3:94bfc4de4ab1 361 Gled4=GledB;
xlizne01 3:94bfc4de4ab1 362 Bled3=BledA;
xlizne01 3:94bfc4de4ab1 363 Bled4=BledB;
xlizne01 3:94bfc4de4ab1 364 }
xlizne01 3:94bfc4de4ab1 365
xlizne01 3:94bfc4de4ab1 366 if(j==2)
xlizne01 3:94bfc4de4ab1 367 {
xlizne01 3:94bfc4de4ab1 368 Rled5=RledA;
xlizne01 3:94bfc4de4ab1 369 Rled6=RledB;
xlizne01 3:94bfc4de4ab1 370 Gled5=GledA;
xlizne01 3:94bfc4de4ab1 371 Gled6=GledB;
xlizne01 3:94bfc4de4ab1 372 Bled5=BledA;
xlizne01 3:94bfc4de4ab1 373 Bled6=BledB;
xlizne01 3:94bfc4de4ab1 374 }
xlizne01 3:94bfc4de4ab1 375
xlizne01 3:94bfc4de4ab1 376 if(j==3)
xlizne01 3:94bfc4de4ab1 377 {
xlizne01 3:94bfc4de4ab1 378 Rled7=RledA;
xlizne01 3:94bfc4de4ab1 379 Rled8=RledB;
xlizne01 3:94bfc4de4ab1 380 Gled7=GledA;
xlizne01 3:94bfc4de4ab1 381 Gled8=GledB;
xlizne01 3:94bfc4de4ab1 382 Bled7=BledA;
xlizne01 3:94bfc4de4ab1 383 Bled8=BledB;
xlizne01 3:94bfc4de4ab1 384 }
xlizne01 7:29f6c0e0b427 385
xlizne01 7:29f6c0e0b427 386 wait(0.00001);
xlizne01 3:94bfc4de4ab1 387 RED--;
xlizne01 3:94bfc4de4ab1 388 BLUE--;
xlizne01 7:29f6c0e0b427 389 GREEN--;
xlizne01 3:94bfc4de4ab1 390 }
xlizne01 3:94bfc4de4ab1 391 }
xlizne01 7:29f6c0e0b427 392 }
xlizne01 3:94bfc4de4ab1 393 }
xlizne01 3:94bfc4de4ab1 394
xlizne01 3:94bfc4de4ab1 395 void barva(int j , int k)
xlizne01 3:94bfc4de4ab1 396 {
xlizne01 7:29f6c0e0b427 397 if(pole[j][k]==0)
xlizne01 7:29f6c0e0b427 398 {
xlizne01 7:29f6c0e0b427 399 RED=0;
xlizne01 7:29f6c0e0b427 400 GREEN=0;
xlizne01 7:29f6c0e0b427 401 BLUE=0;
xlizne01 7:29f6c0e0b427 402 }
xlizne01 7:29f6c0e0b427 403 if(pole[j][k]==2)
xlizne01 7:29f6c0e0b427 404 {
xlizne01 7:29f6c0e0b427 405 RED=2;
xlizne01 7:29f6c0e0b427 406 GREEN=0;
xlizne01 7:29f6c0e0b427 407 BLUE=0;
xlizne01 7:29f6c0e0b427 408 }
xlizne01 7:29f6c0e0b427 409 if(pole[j][k]==4)
xlizne01 7:29f6c0e0b427 410 {
xlizne01 7:29f6c0e0b427 411 RED=10;
xlizne01 7:29f6c0e0b427 412 GREEN=0;
xlizne01 7:29f6c0e0b427 413 BLUE=0;
xlizne01 7:29f6c0e0b427 414 }
xlizne01 7:29f6c0e0b427 415 if(pole[j][k]==8)
xlizne01 7:29f6c0e0b427 416 {
xlizne01 7:29f6c0e0b427 417 RED=0;
xlizne01 7:29f6c0e0b427 418 GREEN=0;
xlizne01 7:29f6c0e0b427 419 BLUE=2;
xlizne01 7:29f6c0e0b427 420 }
xlizne01 7:29f6c0e0b427 421 if(pole[j][k]==16)
xlizne01 7:29f6c0e0b427 422 {
xlizne01 7:29f6c0e0b427 423 RED=0;
xlizne01 7:29f6c0e0b427 424 GREEN=0;
xlizne01 7:29f6c0e0b427 425 BLUE=10;
xlizne01 7:29f6c0e0b427 426 }
xlizne01 7:29f6c0e0b427 427 if(pole[j][k]==32)
xlizne01 7:29f6c0e0b427 428 {
xlizne01 7:29f6c0e0b427 429 RED=0;
xlizne01 7:29f6c0e0b427 430 GREEN=2;
xlizne01 7:29f6c0e0b427 431 BLUE=0;
xlizne01 7:29f6c0e0b427 432 }
xlizne01 7:29f6c0e0b427 433 if(pole[j][k]==64)
xlizne01 7:29f6c0e0b427 434 {
xlizne01 7:29f6c0e0b427 435 RED=0;
xlizne01 7:29f6c0e0b427 436 GREEN=10;
xlizne01 7:29f6c0e0b427 437 BLUE=0;
xlizne01 7:29f6c0e0b427 438 }
xlizne01 7:29f6c0e0b427 439 if(pole[j][k]==128)
xlizne01 7:29f6c0e0b427 440 {
xlizne01 7:29f6c0e0b427 441 RED=0;
xlizne01 7:29f6c0e0b427 442 GREEN=10;
xlizne01 7:29f6c0e0b427 443 BLUE=10;
xlizne01 7:29f6c0e0b427 444 }
xlizne01 7:29f6c0e0b427 445 if(pole[j][k]==256)
xlizne01 7:29f6c0e0b427 446 {
xlizne01 7:29f6c0e0b427 447 RED=10;
xlizne01 7:29f6c0e0b427 448 GREEN=0;
xlizne01 7:29f6c0e0b427 449 BLUE=10;
xlizne01 7:29f6c0e0b427 450 }
xlizne01 7:29f6c0e0b427 451 if(pole[j][k]==512)
xlizne01 7:29f6c0e0b427 452 {
xlizne01 7:29f6c0e0b427 453 RED=10;
xlizne01 7:29f6c0e0b427 454 GREEN=10;
xlizne01 7:29f6c0e0b427 455 BLUE=0;
xlizne01 7:29f6c0e0b427 456 }
xlizne01 7:29f6c0e0b427 457 if(pole[j][k]==1024)
xlizne01 7:29f6c0e0b427 458 {
xlizne01 7:29f6c0e0b427 459 RED=2;
xlizne01 7:29f6c0e0b427 460 GREEN=2;
xlizne01 7:29f6c0e0b427 461 BLUE=2;
xlizne01 7:29f6c0e0b427 462 }
xlizne01 7:29f6c0e0b427 463 if(pole[j][k]==2048)
xlizne01 7:29f6c0e0b427 464 {
xlizne01 7:29f6c0e0b427 465 RED=10;
xlizne01 7:29f6c0e0b427 466 GREEN=10;
xlizne01 7:29f6c0e0b427 467 BLUE=10;
xlizne01 7:29f6c0e0b427 468 }
xlizne01 0:ae588eb31707 469 }
xlizne01 3:94bfc4de4ab1 470
xlizne01 2:3278e4fd8fc2 471
xlizne01 2:3278e4fd8fc2 472 void accelerometer()
xlizne01 2:3278e4fd8fc2 473 {
xlizne01 7:29f6c0e0b427 474 float ax, ay, az;
xlizne01 4:4930b1cb20bd 475
xlizne01 7:29f6c0e0b427 476 ax = acc.getAccX();
xlizne01 7:29f6c0e0b427 477 ay = acc.getAccY();
xlizne01 7:29f6c0e0b427 478 az = acc.getAccZ();
xlizne01 2:3278e4fd8fc2 479
xlizne01 7:29f6c0e0b427 480 xAngle = atan( ax / (sqrt((ay)*(ay) + (az)*(az)))) * 60;
xlizne01 7:29f6c0e0b427 481 yAngle = atan( ay / (sqrt((ax)*(ax) + (az)*(az)))) * 60;
xlizne01 2:3278e4fd8fc2 482
xlizne01 2:3278e4fd8fc2 483
xlizne01 7:29f6c0e0b427 484 if((abs(xAngle)+abs(yAngle))<15)
xlizne01 7:29f6c0e0b427 485 {
xlizne01 7:29f6c0e0b427 486 acc_dir = '0'; // nula
xlizne01 7:29f6c0e0b427 487 }
xlizne01 4:4930b1cb20bd 488
xlizne01 4:4930b1cb20bd 489
xlizne01 7:29f6c0e0b427 490 if(abs(xAngle) >= abs(yAngle))
xlizne01 7:29f6c0e0b427 491 {
xlizne01 7:29f6c0e0b427 492 if(xAngle >= MOVE_ANGLE)
xlizne01 7:29f6c0e0b427 493 {
xlizne01 7:29f6c0e0b427 494 acc_dir = 'U'; // +X
xlizne01 2:3278e4fd8fc2 495 }
xlizne01 7:29f6c0e0b427 496
xlizne01 7:29f6c0e0b427 497 if(xAngle <= -MOVE_ANGLE)
xlizne01 7:29f6c0e0b427 498 {
xlizne01 7:29f6c0e0b427 499 acc_dir = 'D'; // -X
xlizne01 7:29f6c0e0b427 500 }
xlizne01 7:29f6c0e0b427 501 }
xlizne01 7:29f6c0e0b427 502 else
xlizne01 7:29f6c0e0b427 503 {
xlizne01 7:29f6c0e0b427 504 if(yAngle >= MOVE_ANGLE)
xlizne01 7:29f6c0e0b427 505 {
xlizne01 7:29f6c0e0b427 506 acc_dir = 'L'; // +Y
xlizne01 7:29f6c0e0b427 507 }
xlizne01 2:3278e4fd8fc2 508
xlizne01 7:29f6c0e0b427 509 if(yAngle <= -MOVE_ANGLE)
xlizne01 7:29f6c0e0b427 510 {
xlizne01 7:29f6c0e0b427 511 acc_dir = 'R'; // -Y
xlizne01 7:29f6c0e0b427 512 }
xlizne01 7:29f6c0e0b427 513 }
xlizne01 3:94bfc4de4ab1 514 }