int SudokuSolver::runLineStatusElimination(const std::vector<SudokuMap> &VecExMap){
int Steps=0;
for(int i=0;i<9;i++){
for(int j=0;j<9;j++){
if(m_SM.GetElement(i,j)==0){
for(int Num=1;Num<=9;Num++){
if(LineStatus(VecExMap,i,j,Num)==UNIQUE){
m_SM.SetElement(i,j,Num);
Steps++;
}
}
}
}
}
return Steps;
}
void SMST::calculateMST(){
lines_.clear();
LineStatus* const minDist = new LineStatus [points_.size()];
int* const parentIndex = new int [points_.size()];
for (int i = 1; i < points_.size(); i++){
minDist[i] = LineStatus(&points_[0], &points_[i]);
parentIndex[i] = 0;
}
for (int i = 1; i < points_.size(); i++){
LineStatus bestDist;
int bestChild = -1;
for (int j = 1; j < points_.size(); j++){
if ((minDist[j].dist() != 0) && ((bestChild == -1) || (minDist[j] < bestDist))){
bestDist = minDist[j];
bestChild = j;
}
}
lines_.push_back(Line(parentIndex[bestChild], bestChild));
for (int j = 1; j < points_.size(); j++){
if (minDist[j].dist() != 0){
LineStatus tmpStatus(&points_[bestChild], &points_[j]);
if (tmpStatus < minDist[j]){
minDist[j] = tmpStatus;
parentIndex[j]= bestChild;
}
}
}
}
//lineSort(0, lines_.size()-1);
delete [] minDist;
delete [] parentIndex;
}
/*----------------------------------------------------------------------------*/
void BlueAuto2(void)
{
///4 PRELOADS 3 PILE
/// STARTING TYLE IS FURTHERST TYLE
int YouAreGoodToCount = 0;
Transmission(1);
BallCounter = 4;
ShootingMode = 1;
IntakeShoot(6000);//SHOOT 4 PRELOADS // * FAILSAFE POINT
ShootingMode = 4;
DistanceCalculatorTurn(1);
while(DistanceCalculatorTurn(0) < 15) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
Move(-1, 50);
}
Break2(100,-10);
delay(200);
stage = 1;
SetRPM(2200);
DistanceCalculator(1);
while(DistanceCalculator(0) < 12) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
Move(2, 127);
}
clearTimer(T3);
while(SensorValue[IR1] == 1 ) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
IntakeOnAuto();
Move(2, 20);
if(time1[T3] > 6000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Blue1Fail1();/////////////////////RED1FAIL1
IntakePower(0);
Break(100,10);
while(MoveDist(-1, 20,0) == 1) // DO WE NEED FAILSAFE HERE?
{
IntakeOnAuto();
}
while(MoveDist(35, 40,3000) == 1)//17 // DO WE NEED FAILSAFE HERE?
{
IntakeOnAuto();
if(FailSafeEngaged == 1)Blue1FailInfinite();/////////////////////RED1FAIL1
}
IntakePower(0);
while(LineStatus() == 0)
{
Move(-2, 100);
}
Break(100,-10);
while(MoveDist(3, 30,0) == 1);
delay(200);
SetRPM(2200);
while(LineStatus() == 0) //TURN UNTIL YOU SEE THE LINE
{
Move(1, 20);
}
DistanceCalculator(1);
while(LineStatus() == 1) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
FollowLine(40);
if(LineStatusOffset() == 1)
{
DistanceCalculator(1);
YouAreGoodToCount = 1;
}
if(DistanceCalculator(0) > 18 && YouAreGoodToCount == 1)
{
DistanceCalculator(1);
break;
}
}
if(DistanceCalculator(0) < 50 && YouAreGoodToCount == 0)Blue1FailInfinite();//**FAIL GOOD
Break(100,20);
delay(500);
IntakePower(127);///SHOT FIRST PILE
delay(3000);
ShootingMode = 3;
StopDrive();
stage = 1;
DistanceCalculator(1);
while(SensorValue[IR1] == 1 && LineStatus() == 1) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
FollowLine(35);
IntakeOnAuto();
}
Break(100,20);
StopDrive();
clearTimer(T3);
while(stage == 1) // WHAT IF TWO BALLS ARE STUCK FOREVER? TIMER?
{
if(time1[T3] > 10000)
{
break;
}
IntakeOnAuto();
}
clearTimer(T3);
while(LineStatus() == 1 && DistanceCalculator(0) < 37 )//*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
FollowLine(35);
IntakeOnAuto();
if(time1[T3] > 10000)
{
break;
}
}
MoveTime(500,127);
StopDrive();
delay(500);
IntakePower(127);///SHOT BAR SHOTS
delay(3500);
IntakePower(0);
SetRPM(2200);
stage = 1;
//////////////////////////////////////////////////////SHOT 8 COMPLETE
DistanceCalculator(1);
while(DistanceCalculator(0) < 50) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
Move(-2, 127);
}
Break(200,-15);
delay(200);
DistanceCalculatorTurn(1);
clearTimer(T3);
while(DistanceCalculatorTurn(0) < 62) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
Move(-1, 100);
if(time1[T3] > 5000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Blue1FailInfinite();
Break2(100,10);
delay(300);
DistanceCalculator(1);
clearTimer(T3);
while(DistanceCalculator(0) < 24) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
Move(2, 127);
if(time1[T3] > 5000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Blue1FailInfinite();
clearTimer(T3);
while(SensorValue[IR1] == 1 )//PILE BY THE WALL
{
IntakeOnAuto();
Move(2, 20);
if(time1[T3] > 5000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Blue1FailInfinite();
IntakePower(0);
Break(100,10);
while(MoveDist(-1, 20,0) == 1) // DO WE NEED FAILSAFE HERE?
{
IntakeOnAuto();
}
while(MoveDist(19, 35,2000) == 1) // DO WE NEED FAILSAFE HERE?
{
IntakeOnAuto();
}
IntakePower(0);
///////////////////////////////////////////////////////////////////////////////////PICK UP 3RD
SetRPM(2200);
clearTimer(T3);
while(LineStatus() == 0 )
{
Move(-2, 127);
if(time1[T3] > 5000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Blue1FailInfinite(); //**FAIL GOOD
Break(200,-15);
while(MoveDist(3, 40,0) == 1);
clearTimer(T3);
while(LineStatus() == 0) // TURN UNTILL IT SEES LINE (WHAT IF WE NEVER SEE LINE)
{
Move(1,22);
if(time1[T3] > 5000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Blue1FailInfinite(); //**FAIL GOOD
DistanceCalculator(1);
clearTimer(T3);
while(LineStatus() == 1 && DistanceCalculator(0) < 12)//*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
FollowLine(35);
if(time1[T3] > 5000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Blue1FailInfinite(); //**FAIL GOOD
Break(100,20);
StopDrive();
delay(500);
IntakePower(127);///SHOT LAST BALLS BAR SHOTS
delay(3000);
TurnDegree(-45,100,2000);
while(MoveDist(24, 40,0) == 1);
ShootingMode = 4;
KillALL();
while(1);
}
void RedAuto1(void)
{
int Launch = 0;
Transmission(1);
BallCounter = 4;
ShootingMode = 1;
IntakeShoot(6000);//SHOOT 4 PRELOADS // * FAILSAFE POINT
ShootingMode = 4;
stage = 1;
TurnDegree(-10,40,0); // DO WE NEED FAILSAFE HERE?
delay(200);
Move(2,127);
delay(500);
clearTimer(T3);
while(SensorValue[IR1] == 1) //*FAILSAFE ?WHAT IF WE DONT SEE ANY BALLS
{
IntakeOnAuto();
Move(2,20);
if(time1[T3] > 8000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Red1Fail1();/////////////////////RED1FAIL1
IntakePower(0);
Break(100,10);
while(MoveDist(-1, 20,0) == 1) // DO WE NEED FAILSAFE HERE?
{
IntakeOnAuto();
}
while(MoveDist(40, 50,0) == 1) //*FAILSAFE ?WHAT IF WE ARE BLOCKED (ROBOT FINISHED ABOUT MID COURT)
{
if(FailSafeEngaged == 1)Red1Fail1();/////////////////////RED1FAIL1
IntakeOnAuto();
}
IntakePower(0);
TurnDegree(-45,127,2000); //*FAILSAFE ?WHAT IF WE ARE BLOCKED
if(FailSafeEngaged == 1)Red1FailInfinite();
delay(200);
SetRPM(2250);//LAUNCHER ON (NEXT SHOOTING RPM)
clearTimer(T3);
while(LineStatus() == 0) //*FAILSAFE AT WHAT POINT DO WE STOP MOVING? WHAT IF WE ARE OF COURSE?
{
Move(-2,30);
if(time1[T3] > 3500)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Red1FailInfinite();
Break(100,-20);
delay(200);
while(MoveDist(7, 30,0) == 1){} // DO WE NEED FAILSAFE HERE?
clearTimer(T3);
while(LineStatus() == 0) // TURN UNTILL IT SEES LINE (WHAT IF WE NEVER SEE LINE)
{
Move(1,22);
if(time1[T3] > 3000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Red1FailInfinite();
while(LineStatus() == 1 && LineStatusOffset() == 0) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
FollowLine(40);
if(LineStatus() == 1 && LineStatusOffset() == 1) Launch = 1;//WE REACHED THE CROSS(MIDDLE OF FIELD SET FLAG
}
if(LineStatus() == 1 && LineStatusOffset() == 1) Launch = 1;
Break(100,20);
StopDrive();
delay(300);
if(Launch) //IF LAUNCH FLAG WAS SATISFIED EARLIER THEN WE CAN LAUNCH BALLS
{
IntakePower(127); // SHOOT MID COURT
delay(3000);
}
stage = 1;
ShootingMode = 3;
DistanceCalculator(1);
while(SensorValue[IR1] == 1 && LineStatus() == 1 && DistanceCalculator(0) < 55) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
FollowLine(35);
IntakeOnAuto();
}
Break(100,20);
StopDrive();
while(stage == 1) // WHAT IF TWO BALLS ARE STUCK FOREVER? TIMER?
{
IntakeOnAuto();
}
while(LineStatus() == 1 && DistanceCalculator(0) < 55)//*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
FollowLine(35);
IntakeOnAuto();
}
MoveTime(300,127);
StopDrive();
IntakePower(127);///SHOT LAST BALLS BAR SHOTS
delay(4000);
stage = 1;
///////////
KillALL();
while(1);
}
