int main(void) {
enc_init();
motor_init();
encoder_debug_init();
right_turns = 0;
left_turns = 0;
right_direction = REVERSE;
left_direction = REVERSE;
encoder_debug_init();
//Enable all interrupts
sei();
DDRC &= ~(_BV(DDC5));
while (!(has_wall(RIGHT) && has_wall(RIGHT))) {
move_forward(1);
}
turn_right(1);
move_forward(1);
while (1) {
if (has_wall(RIGHT)) {
PORTC |= _BV(PORTC3);
} else {
PORTC &= ~(_BV(PORTC3));
}
if (has_wall(LEFT)) {
PORTC |= _BV(PORTC2);
} else {
PORTC &= ~(_BV(PORTC2));
}
/*
while ((PINC & _BV(PINC5)));
move_forward(1);
move_forward(1);
turn_right(1);
move_forward(1);
*/
}
}
element type_of(Maze *maze, int x, int y) {
Player p1 = maze->player1;
Exit e1 = maze->exit1;
if (has_wall(maze, x, y)) {
return WALL;
} else if (x == p1.coordinate.x && y == p1.coordinate.y) {
return PLAYER;
} else if (x == e1.coordinate.x && y == e1.coordinate.y) {
return EXIT;
} else {
return NONE;
}
}
void fill_row(char * buf, int row)
{
if(row < 2 || row > CELL_Y - 2)
for(int i = 0; i < CELL_X; i++)
buf[i] = ' ';
else
for(int i = 0; i < CELL_X; i++)
buf[i] = /*(i == 1 || i == CELL_X - 2) ? ' ' :*/ RANDOM_BLOCK;
if(has_wall(up))
{
int i0 = 0, i1 = 1;
if(row == i0)
for(int i = 0; i < CELL_X; i++)
buf[i] = '-';
/*if(row == i1)
for(int i = 0; i < CELL_X; i++)
buf[i] = '-';*/
//
}
if(has_wall(down))
{
int i0 = CELL_Y - 1, i1 = CELL_Y - 2;
if(row == i0)
for(int i = 0; i < CELL_X; i++)
buf[i] = '-';
/*if(row == i1)
for(int i = 0; i < CELL_X; i++)
buf[i] = '-';*/
}
//
if(has_wall(left))
{
int i0 = 0, i1 = 1;
buf[i0] = '-';
/*if(buf[i1] == ' ')
buf[i1] = '-';*/
}
if(has_wall(right))
{
int i0 = CELL_X - 1, i1 = CELL_X - 2;
buf[i0] = '-';
/*if(buf[i1] == ' ')
buf[i1] = '-';*/
}
if(row == 0 || row == CELL_Y - 1)
{
buf[0] = '-';
buf[CELL_X-1] = '-';
/*
buf[1] = '-';
buf[CELL_X-2] = '-';*/
}
/*
if(row == 1 || row == CELL_Y - 2)
{
buf[0] = '-';
buf[CELL_X-1] = '-';
buf[1] = '-';
buf[CELL_X-2] = '-';
}*/
}
