File content as of revision 17:5046b27f5441:

#ifndef NAVCONTROLLER_H
#define NAVCONTROLLER_H

#include "r5map.h"
#include <stack>
#include <vector>

#define SENS_FORWARD 7
#define SENS_RIGHT 0
#define SENS_BACK 2
#define SENS_LEFT 3
#define PIN_INT_1 4
#define PIN_INT_2 5
#define FRDM_ADD 0x0A

class NavController
{
    public:
    NavController(int mapSize = 5);
    void explore();                     //moves bot through the unknown maze
    void goBack();                      //returns bot to the origin
    void saveMap();                     //saves map information to file
    void pinWrite(int, int);
    void waitingForInterrupt(int, int);
    void testWithDelay();
    void testWithoutDelay();

    private:
    typename ::position end;
    typename ::direction nextExploreMove();         //calculates the next move in maze exploration
    void sendMove(typename ::direction next);                   //sends a move command to the freedom board via i2c
    void updateMap();                   //records all the sensor information into the map object
    bool readSensor(typename ::direction wall); //returns true if there is a wall in direction "wall"
    char readWall(typename ::direction wall);       //returns the character written on the wall in the direction of 'wall'

    typename ::R5Map map;
    typename ::direction orient;                    //current orientation of the bot
    stack<typename ::direction> path;               //a record of the bots path
    void initIO();
};

#endif