IMPLEMENTATION MODULE Robot;
<* WOFF + *>
FROM IO IMPORT RdChar, WrChar, WrStr, RdStr,RdKey, WrLn, RdLn, RdCard, WrCard, RdInt, WrInt, RdReal, WrReal, WrFixReal, RdBool, WrBool;
FROM Lib IMPORT Delay; (* Wait n milliseconds *)
FROM Graph IMPORT Init, Line, Rectangle, Circle, Disc, _clrBLACK, _clrBLUE, _clrGREEN, _clrCYAN, _clrRED, _clrMAGENTA,SetTextPosition, OutText;
FROM Graph IMPORT _clrBROWN, _clrWHITE, _clrGRAY, _clrLIGHTBLUE, _clrLIGHTGREEN, _clrLIGHTCYAN, _clrLIGHTRED, _clrLIGHTMAGENTA, _clrLIGHTYELLOW, _clrBRIGHTWHITE;

CONST
     SCREEN_SIZE = 600;                (* constants *)
     BLOK_GROOTTE=50;
     SCHERM_GROOTTE=20;
     AANTAL_FIGUREN=20;

TYPE
     PointRc = RECORD;
                 x,y:INTEGER;
               END;
     FIGUUR = RECORD
                p1,p2 : PointRc;
              END;	
VAR               (* variable-declarations *)
  position:PointRc;
 motorON:BOOLEAN;
 richting:RichtingEn;
 richCoord:ARRAY RichtingEn OF PointRc;
  figuren : ARRAY[1..AANTAL_FIGUREN] OF FIGUUR;
 scherm : ARRAY[0..SCHERM_GROOTTE],[0..SCHERM_GROOTTE] OF BOOLEAN;

PROCEDURE TekenFiguur(p1, p2: PointRc);
BEGIN
  Rectangle((p1.x)*BLOK_GROOTTE,(p1.y)*BLOK_GROOTTE,(p2.x)*BLOK_GROOTTE,(p2.y)*BLOK_GROOTTE, 4,TRUE) ;
END TekenFiguur;

PROCEDURE StartMotor(r: RichtingEn);
BEGIN
    motorON:=TRUE;
    richting:=r;
END StartMotor;

PROCEDURE StopMotor(r: RichtingEn);
BEGIN
    motorON:=FALSE;
END StopMotor;

PROCEDURE OneStep(r:RichtingEn);
  VAR
     i:INTEGER;
BEGIN
  FOR i:= 0 TO (BLOK_GROOTTE-1) DO
     Delay(1);
     Rectangle(BLOK_GROOTTE*position.x+(i*richCoord[r].x),BLOK_GROOTTE*position.y+(i*richCoord[r].y),BLOK_GROOTTE*(position.x+1)+(i*richCoord[r].x),BLOK_GROOTTE*(position.y+1)+(i*richCoord[r].y),0,TRUE);
     Rectangle(BLOK_GROOTTE*position.x+((i+1)*richCoord[r].x)+2,BLOK_GROOTTE*position.y+((i+1)*richCoord[r].y)+2,BLOK_GROOTTE*(position.x+1)+((i+1)*richCoord[r].x)-2,BLOK_GROOTTE*(position.y+1)+((i+1)*richCoord[r].y)-2,2,TRUE);
  END;
  position.x:=position.x+richCoord[r].x;
  position.y:=position.y+richCoord[r].y;
END OneStep;

PROCEDURE GeefStandSensors(VAR dirs:DetectieStandAr): BOOLEAN;
  VAR
     i:RichtingEn;
     arrived: BOOLEAN;
 BEGIN
     OneStep(richting);

     FOR i:= NOORD TO ZUID DO
       IF (position.x+richCoord[i].x>-1) AND (position.y+richCoord[i].y>-1) AND (position.x+richCoord[i].x<21) AND (position.y+richCoord[i].y<21) THEN
         dirs[i]:=scherm[position.x+richCoord[i].x,position.y+richCoord[i].y];
       ELSE
         dirs[i]:=FALSE;
       END;
     END;
     IF position.x = SCHERM_GROOTTE THEN
       arrived:=TRUE;
       OutText("   YEAH! I found the exit!");
     ELSE
       arrived:=FALSE;
     END;
     RETURN arrived;
END GeefStandSensors;

(**** INITIALISATIE ******)
VAR
  r : CARDINAL;
  i,j,k,m,n,l,o:INTEGER;
  p1,p2: PointRc;

BEGIN
    WrLn;
    IF NOT Init(1, 1 , 1000, 1000) THEN
    WrStr("Sorry, graphics doesn't work");WrLn;
    RETURN;
  END;
WITH figuren[1] DO
p1.x := 1 ;
p1.y := 0 ;
p2.x := 2 ;
p2.y := 2 ;
END;
WITH figuren[2] DO
p1.x := 2 ;
p1.y := 2 ;
p2.x := 5 ;
p2.y := 3 ;
END;
WITH figuren[3] DO
p1.x := 4 ;
p1.y := 2 ;
p2.x := 5 ;
p2.y := 5 ;
END;
WITH figuren[4] DO
p1.x := 6 ;
p1.y := 4 ;
p2.x := 7 ;
p2.y := 6 ;
END;
WITH figuren[5] DO
p1.x := 8 ;
p1.y := 0 ;
p2.x := 9 ;
p2.y := 5 ;
END;
WITH figuren[6] DO
p1.x := 10 ;
p1.y := 5 ;
p2.x := 11 ;
p2.y := 6 ;
END;
WITH figuren[7] DO
p1.x := 12 ;
p1.y := 2;
p2.x := 13 ;
p2.y := 7 ;
END;
WITH figuren[8] DO
p1.x := 14 ;
p1.y := 2 ;
p2.x := 15 ;
p2.y := 3 ;
END;
WITH figuren[9] DO
p1.x := 3 ;
p1.y := 8 ;
p2.x := 5 ;
p2.y := 12 ;
END;
WITH figuren[10] DO
p1.x := 17 ;
p1.y := 5;
p2.x := 18 ;
p2.y := 13;
END;
WITH figuren[11] DO
p1.x := 10 ;
p1.y := 12;
p2.x := 16 ;
p2.y := 13;
END;
WITH figuren[12] DO
p1.x := 8 ;
p1.y := 8;
p2.x := 11 ;
p2.y := 10;
END;
WITH figuren[13] DO
p1.x := 11 ;
p1.y := 3;
p2.x := 13 ;
p2.y := 4;
END;
WITH figuren[14] DO
p1.x := 13 ;
p1.y := 7;
p2.x := 14 ;
p2.y := 8;
END;

WITH figuren[15] DO
p1.x := 14 ;
p1.y := 8;
p2.x := 15 ;
p2.y := 9;
END;

WITH figuren[16] DO
p1.x := 15 ;
p1.y := 9;
p2.x := 16 ;
p2.y := 10;
END;

WITH figuren[17] DO
p1.x := 16 ;
p1.y := 10;
p2.x := 18 ;
p2.y := 11;
END;
WITH figuren[18] DO
p1.x := 8 ;
p1.y := 8;
p2.x := 11 ;
p2.y := 10;
END;
WITH figuren[19] DO
p1.x := 8 ;
p1.y := 8;
p2.x := 11 ;
p2.y := 10;
END;
WITH figuren[20] DO
p1.x := 8 ;
p1.y := 8;
p2.x := 11 ;
p2.y := 10;
END;


FOR i:=1 TO AANTAL_FIGUREN DO
  TekenFiguur(figuren[i].p1,figuren[i].p2) ;
END;

FOR i:=0 TO SCHERM_GROOTTE DO
  FOR j:=0 TO SCHERM_GROOTTE DO
    scherm[i][j] := TRUE ;
  END;
END;

FOR i:=1 TO AANTAL_FIGUREN DO
 m := figuren[i].p1.x;
 k := figuren[i].p2.x-1;
 l := figuren[i].p1.y;
 o := figuren[i].p2.y-1;
  FOR j:=m TO k DO
   FOR n:=l TO o DO
    scherm[j][n] := FALSE ;
   END;
  END;
END;

(*SetTextPosition(20, 20);*)
  OutText("Made by Stijn & John!!"); (* write the text *)


    position.x:=0; (* initiele positie*)
    position.y:=2;

    motorON:=FALSE;
    richCoord[NOORD].x:=0;
    richCoord[NOORD].y:=-1;
    richCoord[WEST].x:=-1;
    richCoord[WEST].y:=0;
    richCoord[ZUID].x:=0;
    richCoord[ZUID].y:=1;
    richCoord[OOST].x:=1;
    richCoord[OOST].y:=0;

END Robot.