Verbeterde versie

Aansturing.java

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