#include "simpletools.h"
#include "abdrive.h"
#include "ping.h"
#include <stdbool.h>
#include "final.h"

#define MAZE_X 4
#define MAZE_Y 4
#define MAZE_XY = MAZE_X * MAZE_Y

typedef struct {
    int x;
    int y;
} Coor;

bool state[MAZE_XY][MAZE_XY];

Coor stupidToClever(int stupid) {
    int x = (stupid - (stupid % MAZE_Y)) / MAZE_X;
    int y = (stupid % MAZE_X);
    return Coor{x, y};
} // pour chaque case , elle prend le num de la case et ns donne les coordonnes

int cleverToStupid(Coor clever) {
    return clever->x * MAZE_X + clever->y; //pour chak coordonnes elle donne le num de la case
}

int main() {
    bool left = false, right = false, top = false, bottom = false;

    dac_ctr(26, 0, 32);
    freqout(11, 1, 38000);
    if(input(10) == 1) left = true;

    dac_ctr(27, 1, dacVal);
    freqout(1, 1, 38000);
    if(input(2) == 1) right = true;

    drive_goto(51, 0);

    dac_ctr(26, 0, 32);
    freqout(11, 1, 38000);
    if(input(10) == 1) top = true;

    dac_ctr(27, 1, dacVal);
    freqout(1, 1, 38000);
    if(input(2) == 1) bottom = true;






    return 0;
}