PuzzleLineTracer.h

[詳解]

#ifndef __PUZZLELINETRACER__
#define __PUZZLELINETRACER__

#include "ev3api.h"
#include "Walker.h"
#include "ColorSensor.h"
#include "Distance.h"
#include "LineTracerWalker.h"

#define X 0x00

#define PUZZLE_POSITION_CURRENT 16
#define PUZZLE_POSITION_NEXT    16
#define PUZZLE_POSITION_DESTINATE 5
#define PUZZLE_POLAR_COODINATE 2

#define DEGREE   0
#define DISTANCE 1

#define PUZZLE_LINE_LONG   1130
#define PUZZLE_LINE_NORMAL 770
#define PUZZLE_LINE_SHORT  500

using namespace ev3api;

class PuzzleLineTracer {
public:
    PuzzleLineTracer () ;
    void preparatePuzzle ( void ) ;
    void puzzleLineTrace ( int8_t, int8_t, int8_t ) ;

private:
    Walker walker ;
    ColorSensor colorSensor;
    LineTracerWalker lineTracer;
    Distance distance;
    int8_t color ;
    int8_t forward;
    int32_t traceDistance ;
    int8_t currentDegree ;
    int8_t leftMotorDeg ;
    int8_t rightMotorDeg ;
    int8_t connectPosition ;
    int8_t beforeConnectPosition ;
    int8_t beforeDegree ;
    int8_t nextDegree ;
    int32_t nextDistance ;
    int8_t moveDegree ;
    int8_t connectNumberManager[PUZZLE_POSITION_CURRENT][PUZZLE_POSITION_NEXT] = {
    /* 接続ノード番号付与テーブル　( 'X'は非接続を示す )                                        */
    /*                                     N E X T                               */
    /*            0,  1,  2,  3,  4,  5,  6,  7,  8,  9, 10, 11, 12, 13, 14, 15, */
    /*      0 */{ X,  X,  X,  X,  X,  X,  X,  X,  X,  X,  X,  X,  X,  X,  X,  X },
    /*      1 */{ X,  X,  0,  X,  X,  1,  X,  X,  X,  X,  2,  X,  X,  X,  X,  X },
    /*      2 */{ X,  0,  X,  1,  X,  2,  3,  X,  X,  X,  X,  X,  X,  X,  X,  X },
    /*      3 */{ X,  X,  0,  X,  1,  X,  2,  3,  X,  X,  X,  X,  X,  X,  X,  X },
    /*  C   4 */{ X,  X,  X,  0,  X,  X,  X,  1,  X,  X,  X,  2,  X,  X,  X,  X },
    /*  U   5 */{ X,  0,  1,  X,  X,  X,  X,  X,  2,  X,  3,  X,  X,  X,  X,  X },
    /*  R   6 */{ 0,  X,  1,  2,  X,  X,  X,  X,  3,  4,  X,  X,  X,  X,  X,  X },
    /*  R   7 */{ X,  X,  X,  0,  1,  X,  X,  X,  X,  2,  X,  3,  X,  X,  X,  X },
    /*  E   8 */{ 0,  X,  X,  X,  X,  1,  2,  X,  X,  X,  X,  X,  3,  4,  X,  X },
    /*  N   9 */{ 0,  X,  X,  X,  X,  X,  1,  2,  X,  X,  X,  X,  X,  X,  3,  4 },
    /*  T  10 */{ X,  0,  X,  X,  X,  1,  X,  X,  X,  X,  X,  X,  2,  X,  X,  X },
    /*     11 */{ X,  X,  X,  X,  0,  X,  X,  1,  X,  X,  X,  X,  X,  X,  X,  2 },
    /*     12 */{ X,  X,  X,  X,  X,  X,  X,  X,  0,  X,  1,  X,  X,  2,  X,  X },
    /*     13 */{ 0,  X,  X,  X,  X,  X,  X,  X,  1,  X,  X,  X,  2,  X,  3,  X },
    /*     14 */{ 0,  X,  X,  X,  X,  X,  X,  X,  X,  1,  X,  X,  X,  2,  X,  3 },
    /*     15 */{ X,  X,  X,  X,  X,  X,  X,  X,  X,  0,  X,  1,  X,  X,  2,  X }
    } ;
    int32_t allConnectPosition[PUZZLE_POSITION_CURRENT][PUZZLE_POSITION_DESTINATE][PUZZLE_POLAR_COODINATE] = {
        {
        /*  0 */{ X, X }, { X, X }, { X, X }, { X, X }, { X, X }
        },
        {
        /*  1 */{ 0, PUZZLE_LINE_LONG }, { -30, PUZZLE_LINE_SHORT }, { -75, PUZZLE_LINE_NORMAL }, { 0, 0 }, { 0, 0 }
        },
        {
        /*  2 */{ 180, PUZZLE_LINE_LONG }, { 0, PUZZLE_LINE_LONG }, { -150, PUZZLE_LINE_SHORT }, { -30, PUZZLE_LINE_SHORT }, { X, X }
        },
        {
        /*  3 */{ 180, PUZZLE_LINE_SHORT }, { 0, PUZZLE_LINE_LONG }, { -150, PUZZLE_LINE_SHORT }, { -30, PUZZLE_LINE_SHORT }, { X, X }
        },
        {
        /*  4 */{ 180, PUZZLE_LINE_LONG }, { -150, PUZZLE_LINE_SHORT }, { -105, PUZZLE_LINE_NORMAL }, { 0, 0 }, { X, X }
        },
        {
        /*  5 */{ 150, PUZZLE_LINE_SHORT }, { 30, PUZZLE_LINE_SHORT }, { -120, PUZZLE_LINE_SHORT }, { -30, PUZZLE_LINE_SHORT }, { X, X }
        },
        {
        /*  6 */{ 150, PUZZLE_LINE_SHORT }, { 30, PUZZLE_LINE_SHORT }, { -150, PUZZLE_LINE_SHORT }, { -30, PUZZLE_LINE_SHORT }, { X, X }
        },
        {
        /*  7 */{ 150, PUZZLE_LINE_SHORT }, { 30, PUZZLE_LINE_SHORT }, { -150, PUZZLE_LINE_SHORT }, { -60, PUZZLE_LINE_SHORT }, { X, X }
        },
        {
        /*  8 */{ 150, PUZZLE_LINE_SHORT }, { 30, PUZZLE_LINE_SHORT }, { -120, PUZZLE_LINE_SHORT }, { -60, PUZZLE_LINE_SHORT }, { X, X }
        },
        {
        /*  9 */{ 150, PUZZLE_LINE_SHORT }, { 30, PUZZLE_LINE_SHORT }, { -120, PUZZLE_LINE_SHORT }, { -60, PUZZLE_LINE_SHORT }, { X, X }
        },
        {
        /* 10 */{ 105, PUZZLE_LINE_NORMAL }, { 60, PUZZLE_LINE_SHORT }, { -30, PUZZLE_LINE_SHORT }, { 0, 0 }, { X, X }
        },
        {
        /* 11 */{ 75, PUZZLE_LINE_NORMAL }, { 120, PUZZLE_LINE_SHORT }, { -150, PUZZLE_LINE_SHORT }, { 0, 0 }, { X, X }
        },
        {
        /* 12 */{ 60, PUZZLE_LINE_SHORT }, { 150, PUZZLE_LINE_SHORT }, { 0, PUZZLE_LINE_SHORT }, { 0, 0 }, { X, X }
        },
        {
        /* 13 */{ 0, 0 }, { 120, PUZZLE_LINE_SHORT }, { 180, PUZZLE_LINE_SHORT }, { 0, PUZZLE_LINE_SHORT }, { X, X }
        },
        {
        /* 14 */{ 60, PUZZLE_LINE_SHORT }, { 180, PUZZLE_LINE_SHORT }, { 0, PUZZLE_LINE_SHORT }, { 0, 0 }, { X, X }
        },
        {
        /* 15 */{ 120, PUZZLE_LINE_SHORT }, { 30, PUZZLE_LINE_SHORT }, { 180, PUZZLE_LINE_SHORT }, { 0, 0 }, { X, X }
        },
    } ;
        
} ;

#endif