Václav Lízner / Mbed 2 deprecated 2048

school project

Dependencies:   MMA8451Q mbed

main.cpp@9:8a738bd758de, 2016-01-15 (annotated)

Committer:
xlizne01
Date:
Fri Jan 15 12:07:52 2016 +0000
Revision:
9:8a738bd758de
Parent:
8:5f485026374d 
vyladena finalni verze

Who changed what in which revision?

UserRevisionLine numberNew contents of line
xlizne01 9:8a738bd758de 1
xlizne01 9:8a738bd758de 2 #include "mbed.h"
xlizne01 9:8a738bd758de 3 #include "MMA8451Q.h"
xlizne01 1:b23831b703fe 4
xlizne01 9:8a738bd758de 5 #define MMA8451_I2C_ADDRESS (0x1d<<1)
xlizne01 9:8a738bd758de 6 #define MOVE_ANGLE 30 // minimalni uhel pro pohyb
xlizne01 9:8a738bd758de 7 #define NULL_ANGLE 15 // minimalni uhel pro nulovou pozici
xlizne01 9:8a738bd758de 8 #define BRIGHTNESS 10 // svítivost
xlizne01 7:29f6c0e0b427 9
xlizne01 9:8a738bd758de 10 MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS);
xlizne01 2:3278e4fd8fc2 11
xlizne01 9:8a738bd758de 12 void akcelerometr(void);
xlizne01 9:8a738bd758de 13 void zobrazeni(void);
xlizne01 9:8a738bd758de 14 void barva(int,int);
xlizne01 9:8a738bd758de 15 void pohyb(void);
xlizne01 9:8a738bd758de 16 void sesypej(int);
xlizne01 9:8a738bd758de 17 void pridej(void);
xlizne01 2:3278e4fd8fc2 18
xlizne01 8:5f485026374d 19 int RED, GREEN, BLUE;
xlizne01 8:5f485026374d 20 float xAngle, yAngle; //aktualni uhel v ose x a y
xlizne01 6:5711a5b57d17 21 int p=1;
xlizne01 8:5f485026374d 22
xlizne01 9:8a738bd758de 23 char naklon; //směr pohybu
xlizne01 3:94bfc4de4ab1 24
xlizne01 8:5f485026374d 25 int pole[4][4]={{0,0,0,0}, {0,0,0,0}, {0,0,0,0}, {0,0,0,0}}; //aktuální matice
xlizne01 8:5f485026374d 26 int pole2[4][4]={{0,0,0,0}, {0,0,0,0}, {0,0,0,0}, {0,0,0,0}}; //kontrolní matice
xlizne01 1:b23831b703fe 27
xlizne01 8:5f485026374d 28
xlizne01 8:5f485026374d 29 //Definice výstupních pinů pro jednotlivé řádky (anody LED)
xlizne01 0:ae588eb31707 30 DigitalOut prvni(PTE5);
xlizne01 0:ae588eb31707 31 DigitalOut druhy(PTE4);
xlizne01 0:ae588eb31707 32 DigitalOut treti(PTE3);
xlizne01 0:ae588eb31707 33 DigitalOut ctvrty(PTE2);
xlizne01 0:ae588eb31707 34 DigitalOut paty(PTB11);
xlizne01 0:ae588eb31707 35 DigitalOut sesty(PTB10);
xlizne01 0:ae588eb31707 36 DigitalOut sedmy(PTB9);
xlizne01 0:ae588eb31707 37 DigitalOut osmy(PTB8);
xlizne01 0:ae588eb31707 38
xlizne01 8:5f485026374d 39 //Definice výstupních pinů pro jednotlivé sloupce (katody LED)
xlizne01 0:ae588eb31707 40 DigitalOut Rled1(PTC9);
xlizne01 0:ae588eb31707 41 DigitalOut Rled2(PTC8);
xlizne01 0:ae588eb31707 42 DigitalOut Rled3(PTA5);
xlizne01 0:ae588eb31707 43 DigitalOut Rled4(PTA4);
xlizne01 0:ae588eb31707 44 DigitalOut Rled5(PTA12);
xlizne01 0:ae588eb31707 45 DigitalOut Rled6(PTD4);
xlizne01 0:ae588eb31707 46 DigitalOut Rled7(PTA1);
xlizne01 0:ae588eb31707 47 DigitalOut Rled8(PTA2);
xlizne01 0:ae588eb31707 48
xlizne01 0:ae588eb31707 49 DigitalOut Gled1(PTA13);
xlizne01 0:ae588eb31707 50 DigitalOut Gled2(PTD5);
xlizne01 0:ae588eb31707 51 DigitalOut Gled3(PTD0);
xlizne01 0:ae588eb31707 52 DigitalOut Gled4(PTD2);
xlizne01 0:ae588eb31707 53 DigitalOut Gled5(PTD3);
xlizne01 0:ae588eb31707 54 DigitalOut Gled6(PTD1);
xlizne01 0:ae588eb31707 55 DigitalOut Gled7(PTE31);
xlizne01 0:ae588eb31707 56 DigitalOut Gled8(PTB0);
xlizne01 0:ae588eb31707 57
xlizne01 0:ae588eb31707 58 DigitalOut Bled1(PTC1);
xlizne01 0:ae588eb31707 59 DigitalOut Bled2(PTE29);
xlizne01 0:ae588eb31707 60 DigitalOut Bled3(PTC2);
xlizne01 0:ae588eb31707 61 DigitalOut Bled4(PTB3);
xlizne01 0:ae588eb31707 62 DigitalOut Bled5(PTB2);
xlizne01 0:ae588eb31707 63 DigitalOut Bled6(PTE21);
xlizne01 0:ae588eb31707 64 DigitalOut Bled7(PTE20);
xlizne01 0:ae588eb31707 65 DigitalOut Bled8(PTB1);
xlizne01 0:ae588eb31707 66
xlizne01 0:ae588eb31707 67
xlizne01 8:5f485026374d 68 int main()
xlizne01 0:ae588eb31707 69 {
xlizne01 9:8a738bd758de 70 akcelerometr();
xlizne01 8:5f485026374d 71 pridej();
xlizne01 8:5f485026374d 72 pridej(); //přidání prvních dvou kostek
xlizne01 7:29f6c0e0b427 73
xlizne01 9:8a738bd758de 74 while(1) // nekonečná smyčka pro detekci pohybu a zobrazování aktuální matice
xlizne01 3:94bfc4de4ab1 75 {
xlizne01 9:8a738bd758de 76 akcelerometr();
xlizne01 8:5f485026374d 77 pohyb();
xlizne01 8:5f485026374d 78 zobrazeni();
xlizne01 0:ae588eb31707 79 }
xlizne01 3:94bfc4de4ab1 80 }
xlizne01 7:29f6c0e0b427 81
xlizne01 8:5f485026374d 82 ////////////////////////////////////////////////////////////////////////////////
xlizne01 7:29f6c0e0b427 83
xlizne01 4:4930b1cb20bd 84 void pohyb()
xlizne01 8:5f485026374d 85 {
xlizne01 9:8a738bd758de 86 switch(naklon)
xlizne01 4:4930b1cb20bd 87 {
xlizne01 7:29f6c0e0b427 88 case 'D': //pohyb smerem dolu
xlizne01 7:29f6c0e0b427 89 if(p==0)
xlizne01 7:29f6c0e0b427 90 {
xlizne01 9:8a738bd758de 91 sesypej(1);
xlizne01 7:29f6c0e0b427 92 p=1;
xlizne01 7:29f6c0e0b427 93 }
xlizne01 7:29f6c0e0b427 94 break;
xlizne01 7:29f6c0e0b427 95
xlizne01 7:29f6c0e0b427 96 case 'R': // pohyb smerem vpravo
xlizne01 7:29f6c0e0b427 97 if(p==0)
xlizne01 7:29f6c0e0b427 98 {
xlizne01 9:8a738bd758de 99 sesypej(2);
xlizne01 7:29f6c0e0b427 100 p=1;
xlizne01 7:29f6c0e0b427 101 }
xlizne01 7:29f6c0e0b427 102 break;
xlizne01 7:29f6c0e0b427 103
xlizne01 7:29f6c0e0b427 104 case 'U': // pohyb smerem nahoru
xlizne01 7:29f6c0e0b427 105 if(p==0)
xlizne01 7:29f6c0e0b427 106 {
xlizne01 9:8a738bd758de 107 sesypej(3);
xlizne01 7:29f6c0e0b427 108 p=1;
xlizne01 7:29f6c0e0b427 109 }
xlizne01 7:29f6c0e0b427 110 break;
xlizne01 7:29f6c0e0b427 111
xlizne01 7:29f6c0e0b427 112 case 'L': // pohyb smerem vlevo
xlizne01 7:29f6c0e0b427 113 if(p==0)
xlizne01 7:29f6c0e0b427 114 {
xlizne01 9:8a738bd758de 115 sesypej(4);
xlizne01 7:29f6c0e0b427 116 p=1;
xlizne01 7:29f6c0e0b427 117 }
xlizne01 7:29f6c0e0b427 118 break;
xlizne01 7:29f6c0e0b427 119
xlizne01 7:29f6c0e0b427 120 case '0': // detekovana nulova pozice
xlizne01 7:29f6c0e0b427 121 p=0;
xlizne01 7:29f6c0e0b427 122 break;
xlizne01 7:29f6c0e0b427 123
xlizne01 7:29f6c0e0b427 124 default:
xlizne01 7:29f6c0e0b427 125 break;
xlizne01 4:4930b1cb20bd 126 }
xlizne01 4:4930b1cb20bd 127 }
xlizne01 4:4930b1cb20bd 128
xlizne01 8:5f485026374d 129 ///////////////////////////////////////////////////////////////////////////////
xlizne01 8:5f485026374d 130
xlizne01 9:8a738bd758de 131 void sesypej(int x)
xlizne01 6:5711a5b57d17 132 {
xlizne01 8:5f485026374d 133 int a,b,c,d; //pomocné proměnné pro uložení řádků/sloupců při sesypání
xlizne01 8:5f485026374d 134 int same=0; // pomocná proměnná
xlizne01 6:5711a5b57d17 135
xlizne01 8:5f485026374d 136 for(int k=0;k<4;k++)
xlizne01 6:5711a5b57d17 137 {
xlizne01 8:5f485026374d 138 for(int l=0;l<4;l++)
xlizne01 7:29f6c0e0b427 139 {
xlizne01 8:5f485026374d 140 pole2[k][l]=pole[k][l]; //uložení původní matice do pomocné matice
xlizne01 8:5f485026374d 141 }
xlizne01 8:5f485026374d 142 }
xlizne01 8:5f485026374d 143
xlizne01 8:5f485026374d 144 for(int n=0;n<4;n++)
xlizne01 8:5f485026374d 145 {
xlizne01 6:5711a5b57d17 146 if(x==1) // dolu
xlizne01 6:5711a5b57d17 147 {
xlizne01 6:5711a5b57d17 148 a=pole[n][0];
xlizne01 6:5711a5b57d17 149 b=pole[n][1];
xlizne01 6:5711a5b57d17 150 c=pole[n][2];
xlizne01 6:5711a5b57d17 151 d=pole[n][3];
xlizne01 6:5711a5b57d17 152 }
xlizne01 6:5711a5b57d17 153
xlizne01 6:5711a5b57d17 154 if(x==2) // vpravo
xlizne01 6:5711a5b57d17 155 {
xlizne01 6:5711a5b57d17 156 a=pole[3][n];
xlizne01 6:5711a5b57d17 157 b=pole[2][n];
xlizne01 6:5711a5b57d17 158 c=pole[1][n];
xlizne01 6:5711a5b57d17 159 d=pole[0][n];
xlizne01 6:5711a5b57d17 160 }
xlizne01 6:5711a5b57d17 161
xlizne01 6:5711a5b57d17 162 if(x==3) // nahoru
xlizne01 6:5711a5b57d17 163 {
xlizne01 6:5711a5b57d17 164 a=pole[n][3];
xlizne01 6:5711a5b57d17 165 b=pole[n][2];
xlizne01 6:5711a5b57d17 166 c=pole[n][1];
xlizne01 6:5711a5b57d17 167 d=pole[n][0];
xlizne01 6:5711a5b57d17 168 }
xlizne01 6:5711a5b57d17 169
xlizne01 6:5711a5b57d17 170 if(x==4) // vlevo
xlizne01 6:5711a5b57d17 171 {
xlizne01 6:5711a5b57d17 172 a=pole[0][n];
xlizne01 6:5711a5b57d17 173 b=pole[1][n];
xlizne01 6:5711a5b57d17 174 c=pole[2][n];
xlizne01 6:5711a5b57d17 175 d=pole[3][n];
xlizne01 6:5711a5b57d17 176 }
xlizne01 6:5711a5b57d17 177
xlizne01 8:5f485026374d 178 //sesypani
xlizne01 6:5711a5b57d17 179 if(a==0)
xlizne01 6:5711a5b57d17 180 {a=b; b=c; c=d; d=0;}
xlizne01 6:5711a5b57d17 181 if(a==0)
xlizne01 6:5711a5b57d17 182 {a=b; b=c; c=d; d=0;}
xlizne01 6:5711a5b57d17 183 if(a==0)
xlizne01 6:5711a5b57d17 184 {a=b; b=c; c=d; d=0;}
xlizne01 6:5711a5b57d17 185 if(b==0)
xlizne01 6:5711a5b57d17 186 {b=c; c=d; d=0;}
xlizne01 6:5711a5b57d17 187 if(b==0)
xlizne01 6:5711a5b57d17 188 {b=c; c=d; d=0;}
xlizne01 6:5711a5b57d17 189 if(c==0)
xlizne01 6:5711a5b57d17 190 {c=d; d=0;}
xlizne01 6:5711a5b57d17 191
xlizne01 6:5711a5b57d17 192 //spojeni
xlizne01 6:5711a5b57d17 193 if(a==b)
xlizne01 6:5711a5b57d17 194 {a=2*a; b=c; c=d; d=0;}
xlizne01 6:5711a5b57d17 195 if(b==c)
xlizne01 6:5711a5b57d17 196 {b=2*b; c=d; d=0;}
xlizne01 6:5711a5b57d17 197 if(c==d)
xlizne01 6:5711a5b57d17 198 {c=2*c; d=0;}
xlizne01 6:5711a5b57d17 199
xlizne01 6:5711a5b57d17 200 if(x==1) // dolu
xlizne01 6:5711a5b57d17 201 {
xlizne01 6:5711a5b57d17 202 pole[n][0]=a;
xlizne01 6:5711a5b57d17 203 pole[n][1]=b;
xlizne01 6:5711a5b57d17 204 pole[n][2]=c;
xlizne01 6:5711a5b57d17 205 pole[n][3]=d;
xlizne01 6:5711a5b57d17 206 }
xlizne01 8:5f485026374d 207
xlizne01 6:5711a5b57d17 208 if(x==2) // vpravo
xlizne01 6:5711a5b57d17 209 {
xlizne01 6:5711a5b57d17 210 pole[3][n]=a;
xlizne01 6:5711a5b57d17 211 pole[2][n]=b;
xlizne01 6:5711a5b57d17 212 pole[1][n]=c;
xlizne01 6:5711a5b57d17 213 pole[0][n]=d;
xlizne01 6:5711a5b57d17 214 }
xlizne01 6:5711a5b57d17 215
xlizne01 6:5711a5b57d17 216 if(x==3) // nahoru
xlizne01 6:5711a5b57d17 217 {
xlizne01 6:5711a5b57d17 218 pole[n][3]=a;
xlizne01 6:5711a5b57d17 219 pole[n][2]=b;
xlizne01 6:5711a5b57d17 220 pole[n][1]=c;
xlizne01 6:5711a5b57d17 221 pole[n][0]=d;
xlizne01 6:5711a5b57d17 222 }
xlizne01 6:5711a5b57d17 223
xlizne01 6:5711a5b57d17 224 if(x==4) // vlevo
xlizne01 6:5711a5b57d17 225 {
xlizne01 6:5711a5b57d17 226 pole[0][n]=a;
xlizne01 6:5711a5b57d17 227 pole[1][n]=b;
xlizne01 6:5711a5b57d17 228 pole[2][n]=c;
xlizne01 6:5711a5b57d17 229 pole[3][n]=d;
xlizne01 7:29f6c0e0b427 230 }
xlizne01 7:29f6c0e0b427 231 }
xlizne01 8:5f485026374d 232
xlizne01 8:5f485026374d 233 for(int q=0;q<4;q++)
xlizne01 8:5f485026374d 234 {
xlizne01 8:5f485026374d 235 for(int w=0;w<4;w++)
xlizne01 8:5f485026374d 236 {
xlizne01 8:5f485026374d 237 if (pole2[q][w]!=pole[q][w]) //kontrola, že došlo k nějaké změně v matici
xlizne01 8:5f485026374d 238 {
xlizne01 8:5f485026374d 239 same=1;
xlizne01 8:5f485026374d 240 }
xlizne01 8:5f485026374d 241 }
xlizne01 8:5f485026374d 242 }
xlizne01 8:5f485026374d 243
xlizne01 8:5f485026374d 244 if(same==1)
xlizne01 8:5f485026374d 245 {
xlizne01 8:5f485026374d 246 pridej();
xlizne01 8:5f485026374d 247 }
xlizne01 8:5f485026374d 248
xlizne01 6:5711a5b57d17 249 }
xlizne01 8:5f485026374d 250
xlizne01 8:5f485026374d 251 ///////////////////////////////////////////////////////////////////////////////
xlizne01 8:5f485026374d 252
xlizne01 8:5f485026374d 253 void pridej()
xlizne01 8:5f485026374d 254 {
xlizne01 9:8a738bd758de 255 int g=1; // pomocná proměnná
xlizne01 9:8a738bd758de 256 int f; // nahodne cislo v rozmezi 0-15 sloužící ke generování náhodnách souřadnic
xlizne01 8:5f485026374d 257
xlizne01 8:5f485026374d 258 while(g==1)
xlizne01 8:5f485026374d 259 {
xlizne01 8:5f485026374d 260 f =(rand()+int(xAngle)+int(yAngle))%16;
xlizne01 8:5f485026374d 261 if(pole[f/4][f%4]==0)
xlizne01 8:5f485026374d 262 {
xlizne01 9:8a738bd758de 263 if((rand()+int(xAngle)+int(yAngle))%10==1) // reprezentuje 10% šanci, že přidá číslo 4
xlizne01 8:5f485026374d 264 {
xlizne01 8:5f485026374d 265 pole[f/4][f%4]=4;
xlizne01 8:5f485026374d 266 g=0;
xlizne01 8:5f485026374d 267 }
xlizne01 8:5f485026374d 268 else // přidání čísla 2
xlizne01 8:5f485026374d 269 {
xlizne01 8:5f485026374d 270 pole[f/4][f%4]=2;
xlizne01 8:5f485026374d 271 g=0;
xlizne01 8:5f485026374d 272 }
xlizne01 8:5f485026374d 273 }
xlizne01 8:5f485026374d 274 }
xlizne01 8:5f485026374d 275 }
xlizne01 8:5f485026374d 276
xlizne01 8:5f485026374d 277 //////////////////////////////////////////////////////////////////////////////
xlizne01 3:94bfc4de4ab1 278
xlizne01 3:94bfc4de4ab1 279 void zobrazeni()
xlizne01 3:94bfc4de4ab1 280 {
xlizne01 8:5f485026374d 281 int RledA, RledB, GledA, GledB, BledA, BledB;
xlizne01 8:5f485026374d 282
xlizne01 8:5f485026374d 283 for(int k=0;k<4;k++)
xlizne01 3:94bfc4de4ab1 284 {
xlizne01 3:94bfc4de4ab1 285 prvni=0;
xlizne01 3:94bfc4de4ab1 286 druhy=0;
xlizne01 3:94bfc4de4ab1 287 treti=0;
xlizne01 3:94bfc4de4ab1 288 ctvrty=0;
xlizne01 3:94bfc4de4ab1 289 paty=0;
xlizne01 3:94bfc4de4ab1 290 sesty=0;
xlizne01 3:94bfc4de4ab1 291 sedmy=0;
xlizne01 3:94bfc4de4ab1 292 osmy=0;
xlizne01 3:94bfc4de4ab1 293
xlizne01 9:8a738bd758de 294 wait(0.00005); //opatreni proti tzv. duchum
xlizne01 7:29f6c0e0b427 295
xlizne01 3:94bfc4de4ab1 296 if(k==0)
xlizne01 0:ae588eb31707 297 {
xlizne01 8:5f485026374d 298 prvni=1;
xlizne01 8:5f485026374d 299 druhy=1;
xlizne01 0:ae588eb31707 300 }
xlizne01 3:94bfc4de4ab1 301
xlizne01 3:94bfc4de4ab1 302 if(k==1)
xlizne01 0:ae588eb31707 303 {
xlizne01 8:5f485026374d 304 treti=1;
xlizne01 8:5f485026374d 305 ctvrty=1;
xlizne01 0:ae588eb31707 306 }
xlizne01 3:94bfc4de4ab1 307
xlizne01 3:94bfc4de4ab1 308 if(k==2)
xlizne01 0:ae588eb31707 309 {
xlizne01 8:5f485026374d 310 paty=1;
xlizne01 8:5f485026374d 311 sesty=1;
xlizne01 0:ae588eb31707 312 }
xlizne01 3:94bfc4de4ab1 313
xlizne01 3:94bfc4de4ab1 314 if(k==3)
xlizne01 0:ae588eb31707 315 {
xlizne01 8:5f485026374d 316 sedmy=1;
xlizne01 8:5f485026374d 317 osmy=1;
xlizne01 0:ae588eb31707 318 }
xlizne01 0:ae588eb31707 319
xlizne01 8:5f485026374d 320 for(int j=0;j<4;j++)
xlizne01 3:94bfc4de4ab1 321 {
xlizne01 8:5f485026374d 322 barva(j,k);
xlizne01 3:94bfc4de4ab1 323
xlizne01 8:5f485026374d 324 for(int i=11;i>0;i--)
xlizne01 3:94bfc4de4ab1 325 {
xlizne01 3:94bfc4de4ab1 326 if(RED>0)
xlizne01 3:94bfc4de4ab1 327 {
xlizne01 8:5f485026374d 328 RledA=1;
xlizne01 8:5f485026374d 329 RledB=1;
xlizne01 3:94bfc4de4ab1 330 }
xlizne01 3:94bfc4de4ab1 331 else
xlizne01 3:94bfc4de4ab1 332 {
xlizne01 8:5f485026374d 333 RledA=0;
xlizne01 8:5f485026374d 334 RledB=0;
xlizne01 3:94bfc4de4ab1 335 }
xlizne01 0:ae588eb31707 336
xlizne01 3:94bfc4de4ab1 337 if(GREEN>0)
xlizne01 3:94bfc4de4ab1 338 {
xlizne01 8:5f485026374d 339 GledA=1;
xlizne01 8:5f485026374d 340 GledB=1;
xlizne01 3:94bfc4de4ab1 341 }
xlizne01 3:94bfc4de4ab1 342 else
xlizne01 3:94bfc4de4ab1 343 {
xlizne01 8:5f485026374d 344 GledA=0;
xlizne01 8:5f485026374d 345 GledB=0;
xlizne01 3:94bfc4de4ab1 346 }
xlizne01 3:94bfc4de4ab1 347
xlizne01 3:94bfc4de4ab1 348 if(BLUE>0)
xlizne01 3:94bfc4de4ab1 349 {
xlizne01 8:5f485026374d 350 BledA=1;
xlizne01 8:5f485026374d 351 BledB=1;
xlizne01 3:94bfc4de4ab1 352 }
xlizne01 3:94bfc4de4ab1 353 else
xlizne01 3:94bfc4de4ab1 354 {
xlizne01 8:5f485026374d 355 BledA=0;
xlizne01 8:5f485026374d 356 BledB=0;
xlizne01 3:94bfc4de4ab1 357 }
xlizne01 0:ae588eb31707 358
xlizne01 3:94bfc4de4ab1 359 if(j==0)
xlizne01 3:94bfc4de4ab1 360 {
xlizne01 8:5f485026374d 361 Rled1=RledA;
xlizne01 8:5f485026374d 362 Rled2=RledB;
xlizne01 8:5f485026374d 363 Gled1=GledA;
xlizne01 8:5f485026374d 364 Gled2=GledB;
xlizne01 8:5f485026374d 365 Bled1=BledA;
xlizne01 8:5f485026374d 366 Bled2=BledB;
xlizne01 3:94bfc4de4ab1 367 }
xlizne01 3:94bfc4de4ab1 368
xlizne01 3:94bfc4de4ab1 369 if(j==1)
xlizne01 3:94bfc4de4ab1 370 {
xlizne01 8:5f485026374d 371 Rled3=RledA;
xlizne01 8:5f485026374d 372 Rled4=RledB;
xlizne01 8:5f485026374d 373 Gled3=GledA;
xlizne01 8:5f485026374d 374 Gled4=GledB;
xlizne01 8:5f485026374d 375 Bled3=BledA;
xlizne01 8:5f485026374d 376 Bled4=BledB;
xlizne01 3:94bfc4de4ab1 377 }
xlizne01 3:94bfc4de4ab1 378
xlizne01 3:94bfc4de4ab1 379 if(j==2)
xlizne01 3:94bfc4de4ab1 380 {
xlizne01 8:5f485026374d 381 Rled5=RledA;
xlizne01 8:5f485026374d 382 Rled6=RledB;
xlizne01 8:5f485026374d 383 Gled5=GledA;
xlizne01 8:5f485026374d 384 Gled6=GledB;
xlizne01 8:5f485026374d 385 Bled5=BledA;
xlizne01 8:5f485026374d 386 Bled6=BledB;
xlizne01 3:94bfc4de4ab1 387 }
xlizne01 3:94bfc4de4ab1 388
xlizne01 3:94bfc4de4ab1 389 if(j==3)
xlizne01 3:94bfc4de4ab1 390 {
xlizne01 8:5f485026374d 391 Rled7=RledA;
xlizne01 8:5f485026374d 392 Rled8=RledB;
xlizne01 8:5f485026374d 393 Gled7=GledA;
xlizne01 8:5f485026374d 394 Gled8=GledB;
xlizne01 8:5f485026374d 395 Bled7=BledA;
xlizne01 8:5f485026374d 396 Bled8=BledB;
xlizne01 3:94bfc4de4ab1 397 }
xlizne01 7:29f6c0e0b427 398
xlizne01 7:29f6c0e0b427 399 wait(0.00001);
xlizne01 3:94bfc4de4ab1 400 RED--;
xlizne01 3:94bfc4de4ab1 401 BLUE--;
xlizne01 7:29f6c0e0b427 402 GREEN--;
xlizne01 3:94bfc4de4ab1 403 }
xlizne01 3:94bfc4de4ab1 404 }
xlizne01 7:29f6c0e0b427 405 }
xlizne01 3:94bfc4de4ab1 406 }
xlizne01 3:94bfc4de4ab1 407
xlizne01 8:5f485026374d 408 /////////////////////////////////////////////////////////////////////////////
xlizne01 8:5f485026374d 409
xlizne01 8:5f485026374d 410 void barva(int k , int l)
xlizne01 3:94bfc4de4ab1 411 {
xlizne01 8:5f485026374d 412 if(pole[k][l]==0)
xlizne01 7:29f6c0e0b427 413 {
xlizne01 8:5f485026374d 414 RED=0;
xlizne01 8:5f485026374d 415 GREEN=0;
xlizne01 8:5f485026374d 416 BLUE=0;
xlizne01 7:29f6c0e0b427 417 }
xlizne01 8:5f485026374d 418
xlizne01 8:5f485026374d 419 if(pole[k][l]==2)
xlizne01 7:29f6c0e0b427 420 {
xlizne01 8:5f485026374d 421 RED=1;
xlizne01 8:5f485026374d 422 GREEN=0;
xlizne01 8:5f485026374d 423 BLUE=0;
xlizne01 7:29f6c0e0b427 424 }
xlizne01 8:5f485026374d 425
xlizne01 8:5f485026374d 426 if(pole[k][l]==4)
xlizne01 7:29f6c0e0b427 427 {
xlizne01 8:5f485026374d 428 RED=10;
xlizne01 8:5f485026374d 429 GREEN=0;
xlizne01 8:5f485026374d 430 BLUE=0;
xlizne01 7:29f6c0e0b427 431 }
xlizne01 8:5f485026374d 432
xlizne01 8:5f485026374d 433 if(pole[k][l]==8)
xlizne01 7:29f6c0e0b427 434 {
xlizne01 8:5f485026374d 435 RED=0;
xlizne01 8:5f485026374d 436 GREEN=0;
xlizne01 8:5f485026374d 437 BLUE=2;
xlizne01 7:29f6c0e0b427 438 }
xlizne01 8:5f485026374d 439
xlizne01 8:5f485026374d 440 if(pole[k][l]==16)
xlizne01 7:29f6c0e0b427 441 {
xlizne01 8:5f485026374d 442 RED=0;
xlizne01 8:5f485026374d 443 GREEN=0;
xlizne01 8:5f485026374d 444 BLUE=10;
xlizne01 7:29f6c0e0b427 445 }
xlizne01 8:5f485026374d 446
xlizne01 8:5f485026374d 447 if(pole[k][l]==32)
xlizne01 7:29f6c0e0b427 448 {
xlizne01 8:5f485026374d 449 RED=0;
xlizne01 8:5f485026374d 450 GREEN=2;
xlizne01 8:5f485026374d 451 BLUE=0;
xlizne01 7:29f6c0e0b427 452 }
xlizne01 8:5f485026374d 453
xlizne01 8:5f485026374d 454 if(pole[k][l]==64)
xlizne01 7:29f6c0e0b427 455 {
xlizne01 8:5f485026374d 456 RED=0;
xlizne01 8:5f485026374d 457 GREEN=10;
xlizne01 8:5f485026374d 458 BLUE=0;
xlizne01 7:29f6c0e0b427 459 }
xlizne01 8:5f485026374d 460
xlizne01 8:5f485026374d 461 if(pole[k][l]==128)
xlizne01 7:29f6c0e0b427 462 {
xlizne01 8:5f485026374d 463 RED=0;
xlizne01 8:5f485026374d 464 GREEN=10;
xlizne01 8:5f485026374d 465 BLUE=10;
xlizne01 7:29f6c0e0b427 466 }
xlizne01 8:5f485026374d 467
xlizne01 8:5f485026374d 468 if(pole[k][l]==256)
xlizne01 7:29f6c0e0b427 469 {
xlizne01 8:5f485026374d 470 RED=10;
xlizne01 8:5f485026374d 471 GREEN=0;
xlizne01 8:5f485026374d 472 BLUE=10;
xlizne01 7:29f6c0e0b427 473 }
xlizne01 8:5f485026374d 474
xlizne01 8:5f485026374d 475 if(pole[k][l]==512)
xlizne01 7:29f6c0e0b427 476 {
xlizne01 8:5f485026374d 477 RED=10;
xlizne01 8:5f485026374d 478 GREEN=10;
xlizne01 8:5f485026374d 479 BLUE=0;
xlizne01 7:29f6c0e0b427 480 }
xlizne01 8:5f485026374d 481
xlizne01 8:5f485026374d 482 if(pole[k][l]==1024)
xlizne01 7:29f6c0e0b427 483 {
xlizne01 8:5f485026374d 484 RED=2;
xlizne01 8:5f485026374d 485 GREEN=2;
xlizne01 8:5f485026374d 486 BLUE=2;
xlizne01 7:29f6c0e0b427 487 }
xlizne01 8:5f485026374d 488
xlizne01 8:5f485026374d 489 if(pole[k][l]==2048)
xlizne01 7:29f6c0e0b427 490 {
xlizne01 8:5f485026374d 491 RED=10;
xlizne01 8:5f485026374d 492 GREEN=10;
xlizne01 8:5f485026374d 493 BLUE=10;
xlizne01 9:8a738bd758de 494 }
xlizne01 9:8a738bd758de 495
xlizne01 9:8a738bd758de 496 RED=RED*BRIGHTNESS/10;
xlizne01 9:8a738bd758de 497 GREEN=GREEN*BRIGHTNESS/10;
xlizne01 9:8a738bd758de 498 BLUE=BLUE*BRIGHTNESS/10;
xlizne01 0:ae588eb31707 499 }
xlizne01 3:94bfc4de4ab1 500
xlizne01 8:5f485026374d 501 //////////////////////////////////////////////////////////////////////////////////////
xlizne01 2:3278e4fd8fc2 502
xlizne01 9:8a738bd758de 503 void akcelerometr()
xlizne01 2:3278e4fd8fc2 504 {
xlizne01 7:29f6c0e0b427 505 float ax, ay, az;
xlizne01 4:4930b1cb20bd 506
xlizne01 7:29f6c0e0b427 507 ax = acc.getAccX();
xlizne01 7:29f6c0e0b427 508 ay = acc.getAccY();
xlizne01 7:29f6c0e0b427 509 az = acc.getAccZ();
xlizne01 2:3278e4fd8fc2 510
xlizne01 7:29f6c0e0b427 511 xAngle = atan( ax / (sqrt((ay)*(ay) + (az)*(az)))) * 60;
xlizne01 7:29f6c0e0b427 512 yAngle = atan( ay / (sqrt((ax)*(ax) + (az)*(az)))) * 60;
xlizne01 9:8a738bd758de 513
xlizne01 8:5f485026374d 514 if((abs(xAngle)+abs(yAngle))<NULL_ANGLE)
xlizne01 7:29f6c0e0b427 515 {
xlizne01 9:8a738bd758de 516 naklon = '0'; // 0 nula
xlizne01 7:29f6c0e0b427 517 }
xlizne01 9:8a738bd758de 518
xlizne01 7:29f6c0e0b427 519 if(abs(xAngle) >= abs(yAngle))
xlizne01 7:29f6c0e0b427 520 {
xlizne01 7:29f6c0e0b427 521 if(xAngle >= MOVE_ANGLE)
xlizne01 7:29f6c0e0b427 522 {
xlizne01 9:8a738bd758de 523 naklon = 'U'; // +X up
xlizne01 2:3278e4fd8fc2 524 }
xlizne01 7:29f6c0e0b427 525
xlizne01 7:29f6c0e0b427 526 if(xAngle <= -MOVE_ANGLE)
xlizne01 7:29f6c0e0b427 527 {
xlizne01 9:8a738bd758de 528 naklon = 'D'; // -X down
xlizne01 7:29f6c0e0b427 529 }
xlizne01 7:29f6c0e0b427 530 }
xlizne01 8:5f485026374d 531
xlizne01 7:29f6c0e0b427 532 else
xlizne01 7:29f6c0e0b427 533 {
xlizne01 7:29f6c0e0b427 534 if(yAngle >= MOVE_ANGLE)
xlizne01 7:29f6c0e0b427 535 {
xlizne01 9:8a738bd758de 536 naklon = 'L'; // +Y left
xlizne01 7:29f6c0e0b427 537 }
xlizne01 2:3278e4fd8fc2 538
xlizne01 7:29f6c0e0b427 539 if(yAngle <= -MOVE_ANGLE)
xlizne01 7:29f6c0e0b427 540 {
xlizne01 9:8a738bd758de 541 naklon = 'R'; // -Y right
xlizne01 7:29f6c0e0b427 542 }
xlizne01 8:5f485026374d 543 }
xlizne01 3:94bfc4de4ab1 544 }