void ExecuteTurn(char data)
{
PLIB_PORTS_Write(PORTS_ID_0, PORT_CHANNEL_B, data);
switch(data)
{
case 'r':
TurnRight();
break;
case 'l':
TurnLeft();
break;
case 'f':
MoveDistance(16, 600);
break;
case 't':
TurnAround();
MoveDistance(16, 600);
break;
case 'S':
moveRobot(0, 0);
while(true);
}
}
void CPMotion::OnTurnAround()
{
short Velocity = 100;
TurnAround(Velocity);
}
void Mouse::Explore()
{
std::unique_ptr<Path_new> * path_chosen;
// Turn to face a direction where there's actually an opening
// Start off going forward once, set previous to start
MoveForward();
maze->printClean();
maze->printMaze(true);
maze->printClean();
while (true)
{
// Delay *******************************************************
std::this_thread::sleep_until(
std::chrono::system_clock::now() + std::chrono::seconds(1));
// *************************************************************
// Get sensor data
this->sensor->sense(maze.get());
// Check to see if there's more than one new path in the current physical room
switch (CheckForOptions())
{
// dead end
case 0:
TurnAround();
// Reverse backtracking variable
backtracking ? backtracking = false : backtracking = true;
MoveForward();
break;
// only one option
case 1:
// Get the next cell to turn to as there's only one option
Turn(currentRoom->get_children(previousRoom)->front());
MoveForward();
break;
// 2 or 3 options in direction
case 2:
case 3:
if (!backtracking)
{
// Guess all the possible paths from the current "cross-roads"
path_chosen = Evaluate();
// Get the next room from the new completePathGuess, aka path_chosen
delete(completePathGuess);
completePathGuess = path_chosen->get();
Room * nextr = completePathGuess->Rooms()->at(actualPath->Rooms()->size());
// Start down the new path
Turn(nextr);
MoveForward();
}
else
{
// backtracking
// Choose the room with the least visits, avoiding going back down the previous path
Room * nextr = Filter::LeastVisited(currentRoom->get_children(previousRoom));
if (!actualPath->Contains(nextr->Location().x, nextr->Location().y))
{
// change back to regular advancements
backtracking = false;
}
// Start down path
Turn(nextr);
MoveForward();
}
break;
}
maze->printClean();
maze->printMaze(true);
maze->printClean();
}
}
