void search(int x, int y, int d, int step)
{
map[x][y] = 2;
ans = step > ans ? step : ans;
int dx = x + dir[d][0], dy = y + dir[d][1];
if (dx < 0 || dx >= n) {
move_y(x, y, step);
map[x][y] = 0;
return ;
}
if (dy < 0 || dy >= n) {
move_x(x, y, step);
map[x][y] = 0;
return ;
}
if(map[dx][dy] == 1) {
if (d == 0 || d == 2) move_y(x, y, step);
else move_x(x, y, step);
map[x][y] = 0;
return ;
}
if (map[dx][dy] == 2) {
map[x][y] = 0;
return ;
}
search(dx, dy, d, step + 1);
map[x][y] = 0;
}
void doRender()
{
printf("move_y=%d\r\n", move_y());
if (vertical > 2)
image::Render(&dark, 0, posy - move_y() - bright_ture_y, width, vertical / 2 * node_h, 0, 0);
image::Render(&bright, bright_ture_x, posy - move_y(), bright_ture_w, bright_ture_h, bright_ture_x, bright_ture_y);
image::Render(&dark, 0, posy - move_y() + bright_ture_h, width, vertical / 2 * node_h, bright_ture_x,
bright_ture_y + bright_ture_h);
}
void Roll::update(Spirit& spirit,
const stage::Zone& zone,
const enemy::EnemyVec& enemies,
const prop::PropVec& props)
{
if (spirit.orientation.h == common::Horizontal::LEFT) {
spirit.force.add_x(-values[ctr.value()]);
} else if (spirit.orientation.h == common::Horizontal::RIGHT) {
spirit.force.add_x(values[ctr.value()]);
}
move_x(zone, props, spirit);
move_y(zone, props, spirit);
if (!check_ground(zone, props, spirit)) {
if (spirit.orientation.h == common::Horizontal::LEFT) {
spirit.force.set_vx(-speed);
} else if (spirit.orientation.h == common::Horizontal::RIGHT) {
spirit.force.set_vx(speed);
}
if (spirit.link != nullptr) {
// Prevent stickiness when attached to a prop.
spirit.mass.update_y(-1);
}
spirit.motion_flag.set(static_cast<int>(MotionState::FALL));
} else if(spirit.controller->is_pressed(input::Glyph::A)) {
spirit.force.reset();
spirit.motion_flag.set(static_cast<int>(MotionState::JUMP));
} else if (ctr.update()) {
spirit.force.reset();
if(spirit.controller->is_pressed(input::Glyph::A)) {
spirit.motion_flag.set(static_cast<int>(MotionState::JUMP));
} else if (spirit.controller->is_on(input::Glyph::LEFT) ||
spirit.controller->is_on(input::Glyph::RIGHT)) {
spirit.motion_flag.set(static_cast<int>(MotionState::WALK));
} else {
spirit.motion_flag.set(static_cast<int>(MotionState::IDLE));
}
}
}
void doTouchUp()
{
posy -= move_y();
if (posy < dark.pos1)
{
posy = dark.pos2 - (dark.pos1 - posy);
//printf("F to pos1 %d!!!!!\r\n",posy);
}
if (posy > dark.pos2)
{
posy = dark.pos1 + (posy - dark.pos2);
//printf("F to pos2 %d!!!!!\r\n",posy);
}
posy = (posy + node_h / 2) / node_h * node_h;
index = (posy - dark.pos1) / node_h;
printf("index=%d\r\n", index);
Flush();
}
void move_home() {
Slp_1_Write(1);
Slp_2_Write(1);
uint8 x = Lim_1_Read(), y = Lim_2_Read();
while(!x || !y) {
if(!y){
Dir_1_Write(1);
Dir_2_Write(1);
Stp_1_Write(0);
Stp_1_Write(1);
Stp_2_Write(0);
Stp_2_Write(1);
CyDelay(10);
}
else if(!x){
Dir_1_Write(0);
Dir_2_Write(1);
Stp_1_Write(0);
Stp_1_Write(1);
Stp_2_Write(0);
Stp_2_Write(1);
CyDelay(10);
}
x = Lim_1_Read();
y = Lim_2_Read();
}
Slp_1_Write(0);
Slp_2_Write(0);
x_pos = 0;
y_pos = 0;
col_square = 11;
row_square = 0;
move_x(35);
move_y(15);
}
void Cling::update(Spirit& spirit,
const stage::Zone& zone,
const enemy::EnemyVec& enemies,
const prop::PropVec& props)
{
bool x_collision = false;
if (spirit.controller->is_on(input::Glyph::LEFT)) {
spirit.orientation.h = common::Horizontal::LEFT;
x_collision = spirit.mass.is_sidled_left(zone);
} else if (spirit.controller->is_on(input::Glyph::RIGHT)) {
spirit.orientation.h = common::Horizontal::RIGHT;
x_collision = spirit.mass.is_sidled_right(zone);
}
spirit.mass.update_x(0);
if (!x_collision) {
ctr++;
}
// TODO : do not add like this
spirit.force.add_y(-0.5);
bool collision = move_y(zone, props, spirit);
if (collision) {
spirit.motion_flag.set(static_cast<int>(MotionState::IDLE));
} else if (!spirit.mass.is_sidled(zone)) {
spirit.motion_flag.set(static_cast<int>(MotionState::FALL));
} else if (ctr >= 10) {
spirit.motion_flag.set(static_cast<int>(MotionState::FALL));
}
}
void doRender()
{
image::Render(&img, move_x(), move_y());
}
static void on_handle_key(int key)
{
switch (key) {
case 10:
case 13:
case 27:
case KEY_CANCEL:
case KEY_ENTER:
case KEY_CLOSE:
case KEY_EXIT:
text_widget.close();
break;
case KEY_DOWN:
case KEY_SF:
case 'J':
case 'j':
case 'X':
case 'x':
move_y(1);
break;
case KEY_UP:
case KEY_SR:
case 'K':
case 'k':
case 'W':
case 'w':
move_y(-1);
break;
case KEY_LEFT:
case 'H':
case 'h':
case 'P':
case 'p':
move_x(-1);
break;
case KEY_RIGHT:
case 'L':
case 'l':
case 'N':
case 'n':
move_x(1);
break;
case KEY_NPAGE:
case ' ':
move_y(text_box_y);
break;
case KEY_PPAGE:
case KEY_BACKSPACE:
case 'B':
case 'b':
move_y(-text_box_y);
break;
case KEY_HOME:
case KEY_BEG:
move_x(-max_scroll_x);
break;
case KEY_LL:
case KEY_END:
move_x(max_scroll_x);
break;
case '\t':
move_x(8);
break;
case KEY_BTAB:
move_x(-8);
break;
}
}
void movepiece(struct movement move) {
moveRow(row_square - move.fromRow);
moveCol(col_square - move.fromCol);
row_square = move.toRow;
col_square = move.toCol;
CyDelay(5000);
Em_Write(1);
int rowdis = move.fromRow - move.toRow;
int coldis = move.fromCol - move.toCol;
//diagnal movement if clear path
if (abs(rowdis) == abs(coldis)) {
int temp = 0;
for(int i = 1; i <= abs(coldis); i++) {
if (board[move.fromRow + i * rowdis / abs(coldis)][move.fromCol + i * coldis / abs(coldis)] != 0) temp++;
}
if (temp == 0) {
for(int i = 0; i < abs(coldis) * 51; i++) {
move_x(coldis / abs(coldis));
move_y(rowdis / abs(rowdis) * -1);
}
}
return;
}
//col movement if clear path
if (rowdis == 0) {
int temp = 0;
for(int i = 1; i <= abs(coldis); i++) {
if (board[move.fromRow][move.fromCol + i * coldis / abs(coldis)] != 0) temp++;
}
moveCol(coldis);
return;
}
//row movement if clear path
if (coldis == 0) {
int temp = 0;
for(int i = 1; i <= abs(rowdis); i++) {
if (board[move.fromRow + i * rowdis / abs(rowdis)][move.fromCol] != 0) temp++;
}
moveRow(rowdis);
return;
}
//up or down indicator for end adjustment, where down is 1 and up -1
//left or right indicator for end adjustment, where left is -1 and right is 1
int uod = 0, lor = 0;
//determines the best path between spaces for cols
if (move.fromCol < move.toCol) {
lor = 1;
} else if (move.fromCol > move.toCol) {
lor = -1;
} else if (move.fromCol < 6) {
lor = 1;
} else {
lor = -1;
}
moveColHalf(lor * -1);
//determines the best path between spaces for rows
if (move.fromRow > move.toRow) {
uod = -1;
} else if (move.fromRow < move.toRow) {
uod = 1;
} else if (move.toRow < 4) {
uod = -1;
} else {
uod = 1;
}
//moves across the rows with the adjustment
if (rowdis == 0) {
moveRowHalf(uod);
} else if (rowdis > 0) {
moveRowHalf(rowdis / abs(rowdis) * (rowdis * 2 - uod * -1));
} else {
moveRowHalf(rowdis / abs(rowdis) * (abs(rowdis) * 2 - uod));
}
//moves across the rows
if (coldis == 0) {
moveColHalf(lor);
} else if (coldis > 0) {
moveColHalf(coldis / abs(coldis) * (coldis * 2 - lor * -1));
} else {
moveColHalf(coldis / abs(coldis) * (abs(coldis) * 2 - lor));
}
//moves row adjustment
moveRowHalf(-1 * uod);
Em_Write(0);
}
void moveRowHalf(int dis) {
move_y(25 * dis * -1);
}
void moveRow(int dis) {
move_y(50 * dis * -1);
}
void main(void) {
int8 recibe[5]; //declaramos variables
int8 send2[1];
LED_OFF(LED_OK); //encendemos led rojo
LED_ON(LED_FAIL);
usb_init(); //inicializamos el USB
setup_adc_ports(AN0); //Configura canais analógico
setup_adc(ADC_CLOCK_INTERNAL); //De acordo com relógio interno.
/*SETUP_TIMER_1 (T1_INTERNAL|T1_DIV_BY_2); //Configurar timer1 para clock iterno/8
enable_interrupts (INT_TIMER1); //Habilitar Interrupções
enable_interrupts (global);*/
usb_task(); //habilita periferico usb e interrupciones
usb_wait_for_enumeration(); //esperamos hasta que el PicUSB sea configurado por el host
enable_interrupts (global);
LED_OFF(LED_FAIL); //desligo o LED vermelho
LED_ON(LED_OK); //acendo o LED verde
move_x('S');
move_y('S');
while (true)
{
if(usb_enumerated()) //si el PicUSB está configurado
{
if (usb_kbhit(1)) //si el endpoint de salida contiene datos del host
{
LED_ON(LED_DATA);
usb_get_packet(1, recibe, 5); //cojemos el paquete de tamaño 3bytes del EP1 y almacenamos en recibe
if(modo == 1)
{
if(dir_x == 1 && value_x == 1){
move_x('R');
}
if(dir_x == 2 && value_x == 1){
move_x('L');
}
if(dir_y == 1 && value_y == 1){
move_y('F');
}
if(dir_y == 2 && value_y == 1){
move_y('B');
}
delay_ms(20);
}
if (modo == 4)
{
status = 1;
usb_put_packet(1, send2, 1, USB_DTS_TOGGLE); //enviada a informação para o PC com o status
}
LED_OFF(LED_DATA);
}
}
}
}
