void agent_learn(void) {
// 既に学習済みならセンサーから値を取り込まない
if(visible[curY][curX]) return;
visible[curY][curX] = true;
uint8_t sensor_data = sensor_get();
for(int k = 0; k < 4; ++k) {
// 後ろのセンサーは付いていないので
if(k == 2) continue;
int ndir = (dir + k)%4;
// 壁があるとき
if(gbi(sensor_data, k)) {
wall[curY][curX][ndir] = true;
}
int ny = curY + dy[ndir];
int nx = curX + dx[ndir];
if(check_pos(ny, nx)) {
if(gbi(sensor_data, k)) {
wall[ny][nx][(ndir + 2)%4] = true;
}
}
}
}
/*! Checks if the H-Bridge for motor1 is in shutdown mode due to a fault.
Detectable fault conditions include overtemperature and shorted to battery.
@return 0 = no fault or not in drive mode, non-zero = fault detected
*/
u08 motor1Faulted()
{
//We can't detect a fault when the user is forcing the H-bridge to disable (stopped mode), so return false.
if (gbi(DDRE, DDE4))
{
//DIAGA/DIAGB is set as an output, so we can't read the fault.
return 0;
}
else
{
//Read the state of the input pin, low means a fault was detected.
return !gbi(PINE, PINE4);
}
}
/*
* Check if given directory contains a GRASS installation
*/
bool QgsGrass::isValidGrassBaseDir( QString const gisBase )
{
QgsDebugMsg( "isValidGrassBaseDir()" );
// GRASS currently doesn't handle paths with blanks
if ( gisBase.isEmpty() || gisBase.contains( " " ) )
{
return false;
}
/* TODO: G_is_gisbase() was added to GRASS 6.1 06-05-24,
enable its use after some period (others do update) */
#if 0
if ( QgsGrass::versionMajor() > 6 || QgsGrass::versionMinor() > 0 )
{
if ( G_is_gisbase( gisBase.toUtf8().constData() ) ) return true;
}
else
{
#endif
QFileInfo gbi( gisBase + "/etc/element_list" );
if ( gbi.exists() ) return true;
#if 0
}
#endif
return false;
}
/*! Sets the data direction for all 10 digital pins, using the lower 10 bits of the argument.
@param directions Bit 0 (LSB) matches digital0 ... bit 9 matches digital9.
A high (1) sets the pin as an output. A low (0) sets the pin as an input.
@see Use digitalDirection() if you only want to configure a single digital pin.
*/
void digitalDirections(const u16 directions)
{
const u08 lower = (u08)directions;
//set digital0 as output
if (gbi(lower, 0))
sbi(DDRB, DDB4);
//else set digital0 as input
else
cbi(DDRB, DDB4);
//set digital1 as output
if (gbi(lower, 1))
sbi(DDRB, DDB7);
//else set digital1 as input
else
cbi(DDRB, DDB7);
//set directions for digital2-digital9
DDRA = (u08)(directions >> 2);
}
/*! Sets the pullup resistor options for all 10 digital pins, using the lower 10 bits of the argument.
Pullup option will only be set for a pin if the pin is currently configured as an input.
@param pullups Bit 0 (LSB) matches digital0 ... bit 9 matches digital9.
A high (1) will enable the pullup. A low (0) will disable the pullup.
@see Use digitalDirection() if you only want to configure a single digital pin.
*/
void digitalPullups(const u16 pullups)
{
//digital0
if (gbi(DDRB, DDB4) == 0)
{
if (gbi(pullups, 0))
sbi(PORTB, PB4); //enable pullup
else
cbi(PORTB, PB4); //disable pullup
}
//digital1
if (gbi(DDRB, DDB7) == 0)
{
if (gbi(pullups, 1))
sbi(PORTB, PB7); //enable pullup
else
cbi(PORTB, PB7); //disable pullup
}
//digital2-digital9
u08 i;
const u08 pullups2 = (u08)(pullups >> 2);
for (i = 0; i < 8; i++)
{
if (gbi(DDRA, i) == 0)
{
if (gbi(pullups2, i))
sbi(PORTA, i); //enable pullup
else
cbi(PORTA, i); //disable pullup
}
}
}
// ################
// ## Pixel data ##
// ################
void ht1632c_flip(uint8_t *buffer)
{
// Start writing display values from the beginning on
ht1632c_begin();
ht1632c_put(0b101, 3);
ht1632c_put(0, 7);
int8_t seg, row, col;
for (seg = 0; seg < 4; seg++)
for (row = 7; row >= 0; row--)
for (col = 0; col < 8; col++)
ht1632c_putbit(gbi(buffer[seg*8+col], row));
ht1632c_end();
}
/*! Reads the status of the BTN1 button.
@return 0 when the button is not pressed and 1 when the button is pressed.
@see Use buttonWait() if you want to wait for a button press and release.
*/
u08 getButton1()
{
return (gbi(PIND, PIND4) == 0);
}
else if (num == 1)
cbi(PORTB, PB7);
else if (num == 0)
cbi(PORTB, PB4);
}
}
/*! Sets the values of all 10 digital outputs, by reading the lower 10 bits of the argument.
If setting a constant value, it is recommended to express the argument in hex notation.
@param outputs Set bits to 1 to turn on corresponding outputs, or 0 to turn off corresponding outputs.
@see Use digitalOutput() if you only want to set a single digital pin.
*/
void digitalOutputs(const u16 outputs)
{
PORTA = (u08)(outputs>>2);
PORTB = (PORTB & 0x6F) | ((gbis((u08)outputs, 1) << PB7) | (gbi((u08)outputs, 0) << PB4));
}
/*! Returns the 10 digital inputs packed into the lower 10 bits.
This number will be easier to read if displayed in hex, for example by printHex_u16().
@return 1 bits for corresponding high inputs, 0 bits for corresponding low inputs.
Bit 0 (LSB) matches digital0 ... bit 9 matches digital9.
@see Use digitalInput() if you only want to read a single digital pin.
*/
u16 digitalInputs()
{
return (u16)((PINA<<2) | (gbis(PINB, PINB7)<<1) | gbis(PINB, PINB4));
}
/*! Toggles the value of a digital pin from 0 to 1 or vice versa.
Only makes sense to use this with a pin that is already set as an output.
//Checks the status of the BTN1 button.
//Returns 0 when the button is not pressed and 1 when the button is pressed.
u08 getButton1()
{
return gbi(PIND, 4) == 0;
}
bool button_get(enum BUTTON b)
{
return !gbi(BUTTON_PIN, b);
}
void ht1632c_put(uint8_t data, int8_t len)
{
int8_t i;
for (i = len-1; i >= 0; i--)
ht1632c_putbit(gbi(data, i));
}
