Code to run the microcontrollers on the R5 competition bot
Dependencies: LineSensors mbed
Diff: navcontroller.cpp
- Revision:
- 22:8f726dc175cd
- Parent:
- 19:9f4510646c9e
diff -r 44d9b42c04a9 -r 8f726dc175cd navcontroller.cpp --- a/navcontroller.cpp Sat Apr 18 04:38:53 2015 +0000 +++ b/navcontroller.cpp Sat Apr 18 04:57:20 2015 +0000 @@ -13,34 +13,7 @@ end.y = mapSize-1; } -void NavController::explore() -{ - typename ::direction next; - typename ::position newPos; - - while(map.getPosition() != end) - { - updateMap(); - next = nextExploreMove(); - sendMove(next); - newPos = map.getPosition(); - - switch(next) - { - case NORTH : newPos.y++; - break; - case SOUTH : newPos.y--; - break; - case EAST : newPos.x++; - break; - case WEST : newPos.x--; - } - - map.setPosition(newPos); - } - - saveMap(); -} +bool NavController::isDone() { return map.getPosition() == map.getFinish(); } void NavController::prepReturn() {