der Roboter
/
Roboter
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Revision 3:1fbaadae09f8, committed 2014-05-28
- Comitter:
- akul
- Date:
- Wed May 28 13:13:49 2014 +0000
- Parent:
- 2:d439dbbc522f
- Commit message:
- redid code for startpoint 1 -- includes any and all potential intersections (i.e. intersections + corners)
Changed in this revision
| Mapping.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/Mapping.cpp Wed May 28 11:29:42 2014 +0000
+++ b/Mapping.cpp Wed May 28 13:13:49 2014 +0000
@@ -16,60 +16,27 @@
switch(startpoint){
case 1:
if(endpoint == 2){
- while(count < 2){
+ while(count < 4){
if(intersection == true){
count++;
intersection = false;
if(count == 1){
- thinggy.left(speed);
+ thinggy.right(speed);
}
if(count == 2){
thinggy.left(speed);
}
+ if(count == 3){
+ thinggy.left(speed);
+ }
+ if(count == 4){
+ thinggy.right(speed);
+ }
}
}
count = 0;
}
else if(endpoint == 3){
- while(count < 3){
- if(intersection == true){
- count++;
- intersection = false;
- if(count == 1){
- thinggy.left(speed);
- }
- if(count == 2){
- thinggy.forward(speed);
- }
- if(count == 2){
- thinggy.forward(speed);
- }
- }
- }
- count = 0;
- }
- else if(endpoint == 4){
- while(count < 4){
- if(intersection == true){
- count++;
- intersection = false;
- if(count == 1){
- thinggy.left(speed);
- }
- if(count == 2){
- thinggy.forward(speed);
- }
- if(count == 3){
- thinggy.right(speed);
- }
- if(count == 4){
- thinggy.left(speed);
- }
- }
- }
- count = 0;
- }
- else if(endpoint == 5){
while(count < 4){
if(intersection == true){
count++;
@@ -78,28 +45,94 @@
thinggy.right(speed);
}
if(count == 2){
+ thinggy.left(speed);
+ }
+ if(count == 3){
+ thinggy.forward(speed);
+ }
+ if(count == 4){
thinggy.forward(speed);
}
+ }
+ }
+ count = 0;
+ }
+ else if(endpoint == 4){
+ while(count < 5){
+ if(intersection == true){
+ count++;
+ intersection = false;
+ if(count == 1){
+ thinggy.right(speed);
+ }
+ if(count == 2){
+ thinggy.left(speed);
+ }
if(count == 3){
- thinggy.right(speed);
+ thinggy.forward(speed);
}
if(count == 4){
thinggy.right(speed);
}
+ if(count == 5){
+ thinggy.left(speed);
+ }
+ }
+ }
+ count = 0;
+ }
+ else if(endpoint == 5){
+ while(count < 9){
+ if(intersection == true){
+ count++;
+ intersection = false;
+ if(count == 1){
+ thinggy.right(speed);
+ }
+ if(count == 2){
+ thinggy.right(speed);
+ }
+ if(count == 3){
+ thinggy.left(speed);
+ }
+ if(count == 4){
+ thinggy.forward(speed);
+ }
+ if(count == 5){
+ thinggy.left(speed);
+ }
+ if(count == 6){
+ thinggy.right(speed);
+ }
+ if(count == 7){
+ thinggy.right(speed);
+ }
+ if(count == 8){
+ thinggy.right(speed);
+ }
+ if(count == 9){
+ thinggy.left(speed);
+ }
}
}
count = 0;
}
else if(endpoint == 6){
- while(count < 2){
+ while(count < 4){
if(intersection == true){
count++;
intersection = false;
if(count == 1){
+ thinggy.right(speed);
+ }
+ if(count == 2){
+ thinggy.right(speed);
+ }
+ if(count == 3){
thinggy.left(speed);
}
- if(count == 2){
- thinggy.forward(speed);
+ if(count == 4){
+ thinggy.right(speed);
}
}
}