int main(void)
{
setupADC();
setupStepperMotor();
startTimer();
USART_init();
mouse.velocity = 0;
mouse.maxVelocity = 5000;
mouse.acceleration = 2000;
mouse.deceleration = 10000;
enableDrive(1);
turnOnTimers(1,1);
for(int i = 0; i < 10; i++)
{
int right = isWallRight();
int front = isWallFront();
int left = isWallLeft();
if(!right)
{
rotateRight();
}
else if(front && !left)
{
rotateLeft();
}
else if(front)
{
moveBackwardsAndCorrect();
}
if(left && right)
mouse.IR_CORRECT = 20;
moveForwardAndStop();
mouse.IR_CORRECT = 0;
}
turnOnTimers(0, 0);
enableDrive(0);
while(1==1)
{
}
}
bool MainWindow::superDfs() {
if (stopBot)
return 1;
widget->botLast += 100.0 / input->n / input->n / input->h / 2;
integerCoord = getRealCoord();
w[integerCoord.x][integerCoord.y][integerCoord.h] = true;
int sp[6];
for (int i = 0; i < 6; i++)
sp[i] = i;
for (int i = 1; i < 6; i++)
swap(sp[i], sp[rand() % i]);
for (int i = 0; i < 6; i++) {
if (sp[i] == 0)
if (!w[integerCoord.x - 1][integerCoord.y][integerCoord.h] && !isWallLeft(integerCoord)) {
integerCoord.x -= 1;
standartMove(genFPoint(integerCoord.x + 1.5, integerCoord.y + 0.5, integerCoord.h + 0.5),
genFPoint(integerCoord.x + 0.5, integerCoord.y + 0.5, integerCoord.h + 0.5));
integerCoord.x += 1;
}
if (sp[i] == 1)
if (!w[integerCoord.x][integerCoord.y + 1][integerCoord.h] && !isWallForward(integerCoord)) {
integerCoord.y += 1;
standartMove(genFPoint(integerCoord.x + 0.5, integerCoord.y - 0.5, integerCoord.h + 0.5),
genFPoint(integerCoord.x + 0.5, integerCoord.y + 0.5, integerCoord.h + 0.5));
integerCoord.y -= 1;
}
if (sp[i] == 2)
if (!w[integerCoord.x][integerCoord.y - 1][integerCoord.h] && !isWallBackward(integerCoord)) {
integerCoord.y -= 1;
standartMove(genFPoint(integerCoord.x + 0.5, integerCoord.y + 1.5, integerCoord.h + 0.5),
genFPoint(integerCoord.x + 0.5, integerCoord.y + 0.5, integerCoord.h + 0.5));
integerCoord.y += 1;
}
if (sp[i] == 3)
if (!w[integerCoord.x + 1][integerCoord.y][integerCoord.h] && !isWallRight(integerCoord)) {
integerCoord.x += 1;
standartMove(genFPoint(integerCoord.x - 0.5, integerCoord.y + 0.5, integerCoord.h + 0.5),
genFPoint(integerCoord.x + 0.5, integerCoord.y + 0.5, integerCoord.h + 0.5));
integerCoord.x -= 1;
}
if (sp[i] == 4)
if (!w[integerCoord.x][integerCoord.y][integerCoord.h + 1] && !isWallUp(integerCoord)) {
integerCoord.h += 1;
standartMove(genFPoint(integerCoord.x + 0.5, integerCoord.y + 0.5, integerCoord.h - 0.5),
genFPoint(integerCoord.x + 0.5, integerCoord.y + 0.5, integerCoord.h + 0.5));
integerCoord.h -= 1;
}
if (sp[i] == 5)
if (!w[integerCoord.x][integerCoord.y][integerCoord.h - 1] && !isWallDown(integerCoord)) {
integerCoord.h -= 1;
standartMove(genFPoint(integerCoord.x + 0.5, integerCoord.y + 0.5, integerCoord.h + 1.5),
genFPoint(integerCoord.x + 0.5, integerCoord.y + 0.5, integerCoord.h + 0.5));
integerCoord.h += 1;
}
}
return 0;
}
