/****************************************Copyright?（c）****************************************************
**???????????????????????????????Guangzhou?ZHIYUAN?electronics?Co.LTD.
**?????????????????????????????????????
**?????????????????????????????????http://www.embedtools.com
**
**--------------File?Info---------------------------------------------------------------------------------
**?File?Name:???????????maze.c
**?Last?modified?Date:??2007/09/24
**?Last?Version:????????V1.0
**?Description:?????????根據底層程序取得的迷宮信息，經過該智能算法控制電腦鼠的下一狀態，并送往底層驅動程
**??????????????????????序執行。
**?
**--------------------------------------------------------------------------------------------------------
**?Created?By:??????????Liao?Maogang
**?Created?date:????????2007/09/08
**?Version:?????????????V1.0
**?Descriptions:?
**
**--------------------------------------------------------------------------------------------------------
**?Modified?by:
**?Modified?date:
**?Version:
**?Description:
**
*********************************************************************************************************/


/*********************************************************************************************************
??包含頭文件
*********************************************************************************************************/
#include?“Maze.h“
#include?“Mouse_Drive.h“


/*********************************************************************************************************
??全局變量定義
*********************************************************************************************************/
#define?NOTCLOSE?10
#define?DEADWAY?1
?
MAZECOOR?GuessMouse???????????????????????=?{00};

unsigned?char?GuessStartX?=?0;
unsigned?char?GuessStartY?=?0;
unsigned?char?GuessMapBlock[MAZETYPE][MAZETYPE]?=?{0};?
int8?cXcrossway?=?0;
int8?cYcrossway?=?0;


static?uint8????GucXStart???????????????????????????=?0;????????????????/*??起點橫坐標??????????????????*/
static?uint8????GucYStart???????????????????????????=?0;????????????????/*??起點縱坐標??????????????????*/

//static?uint8????GucXGoal0???????????????????????????=?XDST0;????????????/*??終點X坐標，有兩個值?????????*/
//static?uint8????GucXGoal1???????????????????????????=?XDST1;
//static?uint8????GucYGoal0???????????????????????????=?YDST0;????????????/*??終點Y坐標，有兩個值?????????*/
//static?uint8????GucYGoal1???????????????????????????=?YDST1;

static?uint8????GucMouseTask????????????????????????=?WAIT;?????????????/*??狀態機，初始狀態為等待??????*/

static?uint8????GucMapStep[MAZETYPE][MAZETYPE]??????=?{0xff};???????????/*??保存各坐標的等高值??????????*/

static?MAZECOOR?GmcStack[MAZETYPE?*?MAZETYPE]???????=?{0};??????????????/*??在mapStepEdit（）中作堆棧使用?*/
static?MAZECOOR?GmcCrossway[MAZETYPE?*?MAZETYPE]????=?{0};??????????????/*??Main（）中暫存未走過支路坐標??*/
#define?N?7?????????????????????????????????????????????????????????????/*??N為迷宮尺寸?????????????????*/

/*********************************************************************

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件??????31956??2008-01-17?16:02??Maze\Backup?of?Maze.ewd

?????文件??????44279??2008-07-31?09:49??Maze\Backup?of?Maze.ewp

?????文件??????12433??2009-07-23?11:22??Maze\Debug\Exe\Maze.bin

?????文件?????120772??2009-07-23?11:22??Maze\Debug\Exe\Maze.out

?????文件??????12476??2009-07-23?11:25??Maze\Debug\Exe\Maze.sim

?????文件??????18809??2009-07-23?11:22??Maze\Debug\List\Maze.map

?????文件??????40924??2009-07-23?11:22??Maze\Debug\Obj\maze.o

?????文件????????425??2009-07-23?11:22??Maze\Debug\Obj\Maze.pbd

?????文件??????61920??2009-07-23?11:21??Maze\Debug\Obj\Mouse_Drive.o

?????文件???????7640??2009-07-23?11:22??Maze\Debug\Obj\startup_ewarm.o

?????文件??????14636??2009-07-23?11:22??Maze\Debug\Obj\zlg7289.o

?????文件???????5977??2008-07-31?12:24??Maze\Maze.dep

?????文件??????33533??2008-07-31?12:22??Maze\Maze.ewd

?????文件??????41289??2008-07-31?12:24??Maze\Maze.ewp

?????文件????????158??2008-01-17?15:33??Maze\Maze.eww

?????文件????????197??2009-08-04?10:48??Maze\readme.txt

?????文件???????2358??2008-07-31?12:24??Maze\settings\Maze.cspy.bat

?????文件???????3870??2008-07-31?12:24??Maze\settings\Maze.dbgdt

?????文件????????581??2008-07-31?12:24??Maze\settings\Maze.dni

?????文件???????3472??2008-07-31?12:24??Maze\settings\Maze.wsdt

?????文件??????43689??2009-07-21?21:09??Maze\src\maze.c

?????文件???????4996??2009-07-20?19:37??Maze\src\maze.h

?????文件???????3498??2007-12-14?10:18??Maze\src\Micromouse.h

?????文件???????3760??2009-07-21?19:10??Maze\src\Mouse_Config.h

?????文件??????51638??2009-07-20?10:54??Maze\src\Mouse_Drive.c

?????文件???????9420??2009-07-20?10:55??Maze\src\Mouse_Drive.h

?????文件???????7896??2009-07-21?18:00??Maze\src\startup_ewarm.c

?????文件???????2686??2008-02-16?09:41??Maze\src\Type.h

?????文件???????8179??2008-01-11?16:58??Maze\src\zlg7289.c

?????文件???????5063??2008-01-11?15:57??Maze\src\Zlg7289.h

............此處省略10個文件信息