##Basic idea

1. use flood fill algorithm(see the slides) to search the center
   
2. when at the center, reassign distance values of all cells based on
   the actual distance from the cell to the center.
   
3. construct the shortest 'route' between center and origin
   
4. use the 'route' to run back home to finish search run
   
5. use the 'route' to run to center for speed run
   
6. use the 'route' to run back home for speed run
   

##Using Simulator compile source code: $ make
run it:$ ./run [-m N] [-p] [-v] [-d]
options:
-m N specify which maze to run with (N is the id number of the maze)
-p pause at every move
-v verbose. Output useful debugging information
-d demo. Only perform first run (search run)

$ make clean before we wanna compile updated version
if we wanna run left follower, use $ make leftfollower and $ ./LfRun [-m N] [-p]

##Todo List

• Assemble hardware
• FloodFill simulation
• PID controller
• LED display programming More to come...

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