/// <summary>
/// Creates a movement in the right form to Arduino. It uses 4 bits of the less significative bits of a byte.
/// </summary>
/// <param name="mov">The movement</param>
/// <returns>A byte with the 4 less significative bits used to represent a movement.</returns>
public static byte CreateMovement(Movement mov)
{
byte command = 0;
if (mov.Type.Equals(TurnType.HalfTurnRight))
command |= TYPE_HALF_RIGHT;
else if (mov.Type.Equals(TurnType.HalfTurnLeft))
command |= TYPE_HALF_LEFT;
else
command |= TYPE_FULL;
if (mov is RotateCubeMovement)
{
command |= ROTATE_CUBE;
if (((RotateCubeMovement)mov).Axis.Equals(CoordinateAxis.X))
command |= FRONT_CLAW;
else if (((RotateCubeMovement)mov).Axis.Equals(CoordinateAxis.Y))
command |= LEFT_CLAW;
}
else if (mov is RotateFaceMovement)
{
command |= ROTATE_FACE;
if (((RotateFaceMovement)mov).PositionFace.Equals(RobotCubeSolver.Claw_F))
command |= FRONT_CLAW;
else if (((RotateFaceMovement)mov).PositionFace.Equals(RobotCubeSolver.Claw_L))
command |= LEFT_CLAW;
}
return command;
}
/// <summary>
/// Add a rotation movement if needed
/// </summary>
/// <param name="movement">Kind of movement to know what face must be brought to some of the claws</param>
/// <param name="nextMovement">Next movement to optimize and reduce the number of cube rotations</param>
/// <returns></returns>
private List<Movement> AdjustMovement(Movement movement, Movement nextMovement)
{
List<Movement> adjustedMovements = new List<Movement>();
if ((movement is RotateFaceMovement) && (nextMovement is RotateFaceMovement))
{
RotateFaceMovement mov = (RotateFaceMovement) movement;
RotateFaceMovement nextMov = (RotateFaceMovement) nextMovement;
mov.PositionFace = Cube[Cube[mov.Face]];
BringFaceToSomeClaw(mov.PositionFace, Cube[Cube[nextMov.Face]], adjustedMovements);
mov.PositionFace = Cube[Cube[mov.Face]];
}
// coloca o próprio movimento, no final
adjustedMovements.Add(movement);
return adjustedMovements;
}