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@@ -1,134 +1,304 @@
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package boebot;
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-public class Aansturing{
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- private int rotation, x, y;
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- private int maxx, maxy;
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- private int ex, ey;
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-
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-
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- public Aansturing(int maxx, int maxy){
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- this.maxx = maxx;
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- this.maxy = maxy;
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- rotation = 0;
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- x = 0;
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+public class Aansturing
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+{
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+ private int rotation;
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+ private int x;
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+ private int y;
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+ private int maxx;
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+ private int maxy;
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+ private int ex;
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+ private int ey;
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+ public String coordinaten;
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+ public Aansturing(int maxx, int maxy)
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+ {
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+ this.maxx = maxx;
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+ this.maxy = maxy;
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+ rotation = 0;
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+ x = 0;
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y = 0;
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ex = 0;
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ey = 0;
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}
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-
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- public void turnleft(){
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- rotation = rotation - 90;
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- if (rotation < 0){
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+ public void turnleft()
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+ {
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+ rotation = rotation - 90;
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+ if (rotation < 0)
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+ {
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rotation = 270;
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}
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}
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-
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- public void turnright(){
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+ public void turnright()
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+ {
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rotation = rotation + 90;
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- if (rotation > 270){
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+ if (rotation > 270)
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+ {
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rotation = 0;
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}
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}
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-
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- public void vooruit(){
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- if (rotation == 0 && y < maxy){
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+ public void keren()
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+ {
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+ rotation = rotation + 180;
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+ if (rotation == 360)
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+ {
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+ rotation = 0;
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+ }
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+ if(rotation == 450)
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+ {
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+ rotation = 90;
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+ }
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+ }
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+ public void vooruit()
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+ {
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+ if (rotation == 0 && y < maxy)
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+ {
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y ++;
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}
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-
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- if (rotation == 90 && x < maxx){
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+ if (rotation == 90 && x < maxx)
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+ {
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x ++;
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}
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-
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- if (rotation == 180 && y > 0){
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+ if (rotation == 180 && y > 0)
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+ {
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y --;
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}
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-
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- if (rotation == 270 && x > 0){
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- x --;
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+ if (rotation == 270 && x > 0)
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+ {
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+ x --;
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+ }
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+ }
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+ public String geefCoordinaten()
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+ {
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+ coordinaten = "(" + x + "," + y + ")";
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+ return coordinaten;
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+ }
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+ public String gaNaarPunt(int eindx, int eindy)
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+ {
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+ if(eindx <= maxx && eindy <= maxy && eindx >= 0 && eindy >= 0)
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+ {
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+ ex = eindx;
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+ ey = eindy;
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+ }
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+ while(ex != x)
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+ {
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+ if(x < ex)
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+ {
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+ if(rotation == 90)
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+ {
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+ vooruit();
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+ System.out.println("vooruit");
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+ }
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+ else
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+ {
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+ turnleft();
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+ System.out.println("turnleft");
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+ }
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+ }
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+ else
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+ {
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+ if(x > ex)
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+ {
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+ if(rotation == 270)
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+ {
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+ vooruit();
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+ System.out.println("vooruit");
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+ }
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+ else
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+ {
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+ turnleft();
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+ System.out.println("turnleft");
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+ }
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+ }
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+ }
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+ }
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+ while(ey != y)
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+ {
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+ if(y < ey)
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+ {
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+ if(rotation == 0)
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+ {
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+ vooruit();
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+ System.out.println("vooruit");
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+ }
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+ else
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+ {
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+ turnright();
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+ System.out.println("turnright");
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+ }
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+ }
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+ else
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+ {
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+ if(y > ey)
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+ {
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+ if(rotation == 180)
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+ {
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+ vooruit();
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+ System.out.println("vooruit");
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+ }
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+ else
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+ {
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+ turnright();
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+ System.out.println("turnright");
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+ }
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+ }
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+ }
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}
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+ return "bestemming bereikt " + geefCoordinaten();
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}
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-
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-
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- public char[] berekenRoute(int eindx, int eindy, int beginx, int beginy, int rotatie){
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- char[] route = new char[40];
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+ public char[] berekenRoute(int eindx, int eindy, int beginx, int beginy, int rotatie)
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+ {
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+ char[] route = new char[40];
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int teller = 0;
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-
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+ int links = 0;
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x = beginx;
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y = beginy;
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rotation = rotatie;
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-
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- if(eindx <= maxx && eindy <= maxy && eindx >= 0 && eindy >= 0){
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- ex = eindx;
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+ if(eindx <= maxx && eindy <= maxy && eindx >= 0 && eindy >= 0)
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+ {
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+ ex = eindx;
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ey = eindy;
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}else{
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- return route;
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- }
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-
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- if(beginx <= maxx && beginy <= maxy && beginx >= 0 && beginy >= 0){
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- x = beginx;
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- y = beginy;
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+ return route;
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+ }
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+ if(beginx <= maxx && beginy <= maxy && beginx >= 0 && beginy >= 0)
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+ {
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+ x = beginx;
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+ y = beginy;
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}else{
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- return route;
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- }
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-
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- while(ex != x){
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- if(x < ex){
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- if(rotation == 90){
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- vooruit();
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- route[teller] = 'v';
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- System.out.println("vooruit");
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- teller ++;
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- }else{
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- turnleft();
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- route[teller] = 'l';
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- System.out.println("turnleft");
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- teller ++;
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- }
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- }else{
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- if(x > ex){
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- if(rotation == 270){
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- vooruit();
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- route[teller] = 'v';
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- System.out.println("vooruit");
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- teller ++;
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- }else{
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- turnleft();
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- route[teller] ='l';
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- System.out.println("turnleft");
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- teller ++;
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- }
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+ return route;
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+ }
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+ while(ex != x)
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+ {
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+ if(x < ex)
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+ {
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+ if(rotation == 90)
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+ {
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+ vooruit();
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+ route[teller] = 'v';
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+ teller ++;
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+ }
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+ if(rotation == 0)
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+ {
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+ turnright();
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+ vooruit();
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+ route[teller] = 'r';
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+ teller ++;
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+ }
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+ if(rotation == 270)
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+ {
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+ keren();
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+ vooruit();
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+ route[teller] = 'a';
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+ teller ++;
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+ }
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+ if(rotation == 180)
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+ {
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+ turnleft();
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+ vooruit();
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+ route[teller] = 'l';
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+ teller ++;
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+ }
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+ }
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+ else
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+ {
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+ if(x > ex)
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+ {
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+ if(rotation == 270)
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+ {
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+ vooruit();
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+ route[teller] = 'v';
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+ teller ++;
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+ }
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+ if(rotation == 0)
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+ {
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+ turnright();
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+ vooruit();
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+ route[teller] = 'l';
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+ teller ++;
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+ }
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+ if(rotation == 90)
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+ {
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+ keren();
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+ vooruit();
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+ route[teller] = 'a';
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+ teller ++;
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+ }
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+ if(rotation == 180)
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+ {
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+ turnleft();
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+ vooruit();
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+ route[teller] = 'r';
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+ teller ++;
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+ }
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}
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}
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}
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-
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- while(ey != y){
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- if(y < ey){
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- if(rotation == 0){
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- vooruit();
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+ while(ey != y)
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+ {
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+ if(y < ey)
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+ {
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+ if(rotation == 0)
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+ {
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+ vooruit();
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route[teller] = 'v';
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- System.out.println("vooruit");
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teller ++;
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- }else{
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- turnright();
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+ }
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+ if(rotation == 270)
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+ {
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+ turnright();
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+ vooruit();
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route[teller] = 'r';
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- System.out.println("turnright");
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teller ++;
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}
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- }else{
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- if(y > ey){
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- if(rotation == 180){
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- vooruit();
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- route[teller] = 'v';
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- System.out.println("vooruit");
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- teller ++;
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- }else{
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- turnright();
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- route[teller] = 'r';
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- System.out.println("turnright");
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- teller ++;
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- }
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+ if(rotation == 180)
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+ {
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+ keren();
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+ vooruit();
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+ route[teller] = 'a';
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+ teller ++;
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+ }
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+ if(rotation == 90)
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+ {
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+ turnleft();
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+ vooruit();
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+ route[teller] = 'l';
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+ teller ++;
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+ }
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+ }
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+ else
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+ {
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+ if(y > ey)
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+ {
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+ if(rotation == 180)
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+ {
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+ vooruit();
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+ route[teller] = 'v';
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+ teller ++;
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+ }
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+ if(rotation == 90)
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+ {
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+ turnright();
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+ vooruit();
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+ route[teller] = 'r';
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+ teller ++;
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+ }
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+ if(rotation == 0)
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+ {
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+ keren();
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+ vooruit();
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+ route[teller] = 'a';
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+ teller ++;
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+ }
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+ if(rotation == 270)
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+ {
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+ turnleft();
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+ vooruit();
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+ route[teller] = 'l';
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+ teller ++;
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+ }
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}
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}
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}
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+ System.out.println("bestemming bereikt " + geefCoordinaten());
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return route;
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}
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}
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