/*Displays the chosen board*/
void displayBoard(Cell board[BOARD_HEIGHT][BOARD_WIDTH], Player * player)
{
int x,y;
printf("| |0|1|2|3|4|5|6|7|8|9|\n");
for (x=0; x < BOARD_WIDTH; x++){
printf("|%i|", x);
for (y=0; y < BOARD_HEIGHT; y++){
if (board[x][y] == EMPTY){
printf("%s|", EMPTY_OUTPUT);
}
if (board[x][y] == BLOCKED){
printf("%s|", BLOCKED_OUTPUT);
}
if (board[x][y] == PLAYER){
displayDirection(player->direction);
}
}
printf("\n");
}
printf("\n");
}
void lightDisplay(void) {
int i;
clearStates();
displaySpeed();
displayDirection();
_delay_ms(1000);
for (i = 0; i < 8; i++) {
dir[i] = ON;
if (i < 6) {
spd[i] = ON;
if (i < 4) {
ctrl[i] = ON;
}
}
displaySpeed();
displayDirection();
_delay_ms(1000);
}
}
int main(void) {
//setup USART recive
UCSR0B = (1<<RXEN0);
UCSR0C = (1<<UCSZ00) | (1<<UCSZ01);
UBRR0 = 25; // 25 = 2400 baud; 6 = 9600 baud
/* Set pins as output, high->output, low->input */
DDRA = 0xFF; /* Pin for LED out */
DDRB = 0xFF; /* Pin for LED out */
DDRC = 0xFF; /* Pin for LED out */
DDRD = 0xFE; /* Pin for LED out */
unsigned char input;
unsigned char value;
unsigned char control;
PORTA = 0xFF;
PORTB = 0xFF;
PORTC = 0xFF;
PORTD = 0xFF;
_delay_ms(1000);
/*
while (1){
clearStates();
lightDisplay();
}*/
/*
int i = 0;
unsigned int states[4] = {0x27, 0xA0, 0x56, 0xD4}; */
/*
while (1) {
unsigned char in = USART_Receive();
for (int i = 0; i < 8; i++) {
dir[i] = (in>>(7-i))&0x1;
}
displayDirection();
}
*/
while(1) {
//clearStates();
input = USART_Receive();
//input = 0x27;
/* _delay_ms(2000);
input = states[i];
i++;
i = i%4;*/
control = input & CTRL_MSK;
if (input & CMD_BIT) {
ctrl[LONG_SIP] = control == LONG_SIP ? ON : OFF;
ctrl[LONG_PUFF] = control == LONG_PUFF ? ON : OFF;
ctrl[SIP] = control == SIP || ctrl[LONG_SIP] ? ON : OFF;
ctrl[PUFF] = control == PUFF || ctrl[LONG_PUFF] ? ON : OFF;
} else {
clearCtrl();
}
value = (input&VAL_MSK) >> 3;
if (input & SPD_BIT) { //SPEED
clearSpeed();
if (input & NEG_BIT) { //REVERSE
spd[0] = ON;
}
else { //FORWARD
switch (value) {
default:
case 4:
spd[4+SPD_OFFSET] = ON;
case 3:
spd[3+SPD_OFFSET] = ON;
case 2:
spd[2+SPD_OFFSET] = ON;
case 1:
spd[1+SPD_OFFSET] = ON;
break;
case 0:
spd[0+SPD_OFFSET] = ON;
break;
}
}
displaySpeed();
}
else { //DIRECTION
clearDir();
if (input & NEG_BIT) { //LEFT
switch (value) {
default:
case 4:
dir[DIR_OFFSET+1-4] = ON;
case 3:
dir[DIR_OFFSET+1-3] = ON;
case 2:
dir[DIR_OFFSET+1-2] = ON;
case 1:
dir[DIR_OFFSET+1-1] = ON;
break;
case 0:
break;
}
}
else { //RIGHT
switch (value) {
default:
case 4:
dir[4+DIR_OFFSET] = ON;
case 3:
dir[3+DIR_OFFSET] = ON;
case 2:
dir[2+DIR_OFFSET] = ON;
case 1:
dir[1+DIR_OFFSET] = ON;
break;
case 0:
break;
}
}
displayDirection();
}
}
return 0;
}
