makeSearchMapとmakeMap2の順番を変更 (#12)

Author: Shota Aoki

uROS_STEP8_micromouse/map_manager.h

@@ -55,8 +55,8 @@ class MapManager
   t_position mypos;
   short goal_mx, goal_my;
 
-  void makeMap2(int x, int y);
   void makeSearchMap(int x, int y);
+  void makeMap2(int x, int y);
   int getPriority(unsigned char x, unsigned char y, t_direction_glob dir);
 };
 

uROS_STEP8_micromouse/map_manager.ino

@@ -471,7 +471,7 @@ t_direction MapManager::getNextDir2(short x, short y, t_direction_glob * dir)
   return front;
 }
 
-void MapManager::makeMap2(int x, int y)
+void MapManager::makeSearchMap(int x, int y)
 {
   bool change_flag;
 
@@ -488,7 +488,7 @@ void MapManager::makeMap2(int x, int y)
       for (int j = 0; j < MAZESIZE_Y; j++) {
         if (steps_map[i][j] == 65535) continue;
         if (j < (MAZESIZE_Y - 1)) {
-          if (wall[i][j].north == NOWALL) {
+          if (wall[i][j].north != WALL) {
             if (steps_map[i][j + 1] == 65535) {
               steps_map[i][j + 1] = steps_map[i][j] + 1;
               change_flag = true;
@@ -497,7 +497,7 @@ void MapManager::makeMap2(int x, int y)
         }
 
         if (i < (MAZESIZE_X - 1)) {
-          if (wall[i][j].east == NOWALL) {
+          if (wall[i][j].east != WALL) {
             if (steps_map[i + 1][j] == 65535) {
               steps_map[i + 1][j] = steps_map[i][j] + 1;
               change_flag = true;
@@ -506,7 +506,7 @@ void MapManager::makeMap2(int x, int y)
         }
 
         if (j > 0) {
-          if (wall[i][j].south == NOWALL) {
+          if (wall[i][j].south != WALL) {
             if (steps_map[i][j - 1] == 65535) {
               steps_map[i][j - 1] = steps_map[i][j] + 1;
               change_flag = true;
@@ -515,7 +515,7 @@ void MapManager::makeMap2(int x, int y)
         }
 
         if (i > 0) {
-          if (wall[i][j].west == NOWALL) {
+          if (wall[i][j].west != WALL) {
             if (steps_map[i - 1][j] == 65535) {
               steps_map[i - 1][j] = steps_map[i][j] + 1;
               change_flag = true;
@@ -527,7 +527,7 @@ void MapManager::makeMap2(int x, int y)
   } while (change_flag == true);
 }
 
-void MapManager::makeSearchMap(int x, int y)
+void MapManager::makeMap2(int x, int y)
 {
   bool change_flag;
 
@@ -544,7 +544,7 @@ void MapManager::makeSearchMap(int x, int y)
       for (int j = 0; j < MAZESIZE_Y; j++) {
         if (steps_map[i][j] == 65535) continue;
         if (j < (MAZESIZE_Y - 1)) {
-          if (wall[i][j].north != WALL) {
+          if (wall[i][j].north == NOWALL) {
             if (steps_map[i][j + 1] == 65535) {
               steps_map[i][j + 1] = steps_map[i][j] + 1;
               change_flag = true;
@@ -553,7 +553,7 @@ void MapManager::makeSearchMap(int x, int y)
         }
 
         if (i < (MAZESIZE_X - 1)) {
-          if (wall[i][j].east != WALL) {
+          if (wall[i][j].east == NOWALL) {
             if (steps_map[i + 1][j] == 65535) {
               steps_map[i + 1][j] = steps_map[i][j] + 1;
               change_flag = true;
@@ -562,7 +562,7 @@ void MapManager::makeSearchMap(int x, int y)
         }
 
         if (j > 0) {
-          if (wall[i][j].south != WALL) {
+          if (wall[i][j].south == NOWALL) {
             if (steps_map[i][j - 1] == 65535) {
               steps_map[i][j - 1] = steps_map[i][j] + 1;
               change_flag = true;
@@ -571,7 +571,7 @@ void MapManager::makeSearchMap(int x, int y)
         }
 
         if (i > 0) {
-          if (wall[i][j].west != WALL) {
+          if (wall[i][j].west == NOWALL) {
             if (steps_map[i - 1][j] == 65535) {
               steps_map[i - 1][j] = steps_map[i][j] + 1;
               change_flag = true;