#include "Mouse_Drive.h"

//------------------------------------------------------------------------------------
//
//
//------------------------------------------------------------------------------------
int  main(void)
{
	uint32 i=0;
	MicroMouseInit();
	ZLG7289_Init();
	ZLG7289_Download(1, 6, 0, MAP.y/10);
    ZLG7289_Download(1, 7, 0, MAP.y%10);
	ZLG7289_Download(1, 0, 0, MAP.x/10);
    ZLG7289_Download(1, 1, 0, MAP.x%10);
	DirDisplay();

	while(1)
	{
		if(CheckKey()==true)
		{
			i++;
			if(i == 5)
				i = 0;
		}
		if(i == 0)  
		{
			Go_Ahead(1);
			//if(((MAP.x == 6) || (MAP.x == 7))&&((MAP.y == 6) || (MAP.y == 7)))
				//while(CheckKey()==false);
			if(Check_Maze_State[0].front_2)
			{
				if((Check_Maze_State[0].right_2==0) && (Check_Maze_State[1].right_2==0))
					Turnright();
				else if((Check_Maze_State[0].left_2==0) && (Check_Maze_State[1].left_2==0))
					Turnleft();
				else
				{
					if(Check_Maze_State[0].right_1)
						Turn180L();
					else
						Turn180R();
				}
			}
			else
			{
				if((Check_Maze_State[0].right_2==0) && (Check_Maze_State[1].right_2==0))
					Turnright();
				//else if((Check_Maze_State[1].left_2 == 0) && (Check_Maze_State[0].left_2 ==0))
					//Turnleft();
			}
		}
		if(i == 1)
		{
			LEDDisplay(1, 1);
			LEDDisplay(2, 1);
			LEDDisplay(3, 1);
			LEDDisplay(4, 1);
			LEDDisplay(5, 1);
		}
		if(i == 2)
		{
			if(Check_Maze_State[0].front_1)
				LEDDisplay(0, 2);
			else
			{
				LEDDisplay(1, (Check_Maze_State[0].left_2));
				LEDDisplay(2, (Check_Maze_State[0].left_1));
				LEDDisplay(3, (Check_Maze_State[0].front_2));
				LEDDisplay(5, (Check_Maze_State[0].right_2));
				LEDDisplay(4, (Check_Maze_State[0].right_1));
			}
		}
		if(i == 3)
		{
			Go_Ahead(1);
		}

		if(i == 4)
		{
			Delay(100);
		}
	}  
}