// Method for moving brick down,
// detects if new bricks should be spawned, also detects end of game
bool TetrisEngine:: moveDown()
{
bool canContinue = true;
for (int i= 0; i < BRICKCOUNT; i++)
{
// maximum allowed number for tile table is numRows * 10 - 1
// if it exceeds brick should be stopped
// or if its colliding with another brick
if ((_curBrick->brickPosition[i] + _numCols > _numRows * 10 - 1)
|| (checkCollision(_curBrick->brickPosition[i] + _numCols)) )
{
canContinue = false;
break;
}
}
if (canContinue)
{
for (int i= 0; i < BRICKCOUNT; i++)
{
// going one row down by adding columns count
_tiles[_curBrick->brickPosition[i]]->setUnactive();
_curBrick->brickPosition[i] =
_curBrick->brickPosition[i] + _numCols;
}
// highlighting new tiles after changing all to avoid double highlight on one tile
for (int i= 0; i < BRICKCOUNT; i++)
{
_tiles[_curBrick->brickPosition[i]]->setActive(resolveBrickColor(_curBrick->color));
}
}
else
{
qDebug() << "Collision detected, end of life of brick";
if (spawnBrick())
{
setEndOfGame(true);
}
// after spawnBrick, so old brick tiles will be unactive
checkForLine();
}
return canContinue;
}
void doShortCourse(int state) {
int nextState = 0;
switch (state) {
case 0: { //move 2 metres to the wall
forwards(20);
while (!wallFound(1)) {
}
nextState = 1;
break;
}
case 1: { //found a wall follow it
setSensorSide(1);//follow left wall
while (wallFound(1)) {
correctForwardMotion();
}
nextState = 2;
break;
}
case 2: { //wall ended find a line
forwards(20);
while (!checkForLine()) {
}
nextState = 3;
break;
}
case 3: { //line found follow it
lineFollow();
nextState = 4;
break;
}
case 4: { // docked please stop.
while(wallFound(3)) {
}
stopLineFollow();
nextState = 7;
break;
}
}
if (nextState != 7){
doShortCourse(nextState);
}
}
void doLongCourse(int state) {
int nextState = 0;
switch (state) {
case 0: { //move 2 metres to the wall
forwards(20);
while (!wallFound(1)) {
}
nextState = 1;
break;
}
case 1: { //found a wall follow it
setSensorSide(1);//follow left wall
while (wallFound(1)) {
correctForwardMotion();
}
nextState = 2;
break;
}
case 2: { //turn away from the wall and run to the right hand side
right();
delay(150);
nextState = 3;
break;
}
case 3:{
forwards(20);
while(!wallFound(2)) {
}
nextState = 4;
break;
}
case 4 :{
setSensorSide(2);
while(wallFound(2)){
correctForwardMotion();
}
nextState = 5;
break;
}
case 5: { //wall ended find a line
forwards(20);
while (!checkForLine()) {
}
nextState = 6;
break;
}
case 6: { //line found follow it
lineFollow();
nextState = 7;
break;
}
case 7: { // docked please stop.
while(wallFound(3)) {
}
stopLineFollow();
nextState = 8;
break;
}
}
if (nextState != 8){
doLongCourse(nextState);
}
}
void doTheDemo() {
cmdDoPlay(">cc");
_DBG_("State 0");
forwards(20);
cmdDoPlay(">dd");
_DBG_("State 1");
while (sensorSide != 1) {
//Forwards until we find a left wall
checkForWall();
_DBD(sensorSide);_DBG_(" sens");
}
cmdDoPlay(">ee");
_DBG_("State 2");
//Follow wall until it's ended
int wallState = -1;
while (wallState != 3 && wallState != 0) {
wallState = checkForWall();
correctForwardMotion();
}
if (courseType == 0) {
cmdDoPlay(">aa");
_DBG_("State 5");
while(!checkForLine()) {
}
followLine();
while(!checkForNoLine()) {
}
brake();
}
else {
//Bear right to head for other wall
cmdDoPlay(">ff");
_DBG_("State 3");
right();
delay(1000);
_DBG_("State 3.1");
forwards(20);
//Wait until right wall is trackable
while (sensorSide != 2) {
checkForWall();
_DBD(sensorSide);_DBG_(" sens");
}
//Track right wall
cmdDoPlay(">gg");
_DBG_("State 4");
wallState = -1;
while (wallState != 4 && wallState != 0) {
wallState = checkForWall();
correctForwardMotion();
}
//Find the line
cmdDoPlay(">aa");
_DBG_("State 5");
forwards(20);
while(!checkForLine()) {
}
followLine();
while(!checkForNoLine()) {
}
brake();
}
}
