Diff: source/Pathfinding.cpp

Revision:

44:7118b23b0fd7

Parent:

41:462d379e85c4

--- a/source/Pathfinding.cpp	Mon Apr 10 14:52:23 2017 +0000
+++ b/source/Pathfinding.cpp	Tue Apr 11 14:13:37 2017 +0000
@@ -14,7 +14,7 @@
 * Storage table:
 * 80kB  uint16_t    [40000] open_list       (contains open f values as well as closed list value = max of 16 bit = 65535)
 * 80kB  uint16_t    [40000] g_list          (contains g values from A to current incl. target, needed for pathtracing)
-* 40kB  uint8_t     [40000] obstacle_list   (contains hard surface as well as red and green LEGO stones)
+* 40kB  uint8_t     [40000] obstacle_list   (contains hard surface objects as well as red and green LEGO stones)
 * 2kB   uint8_t     [2000]  walkpath        (contains the path coordinates in a list, [0] = start, [n] = target)
 **/
 
@@ -29,7 +29,7 @@
 using namespace std;
 
 //global
-uint8_t obstacle_list[row][col] = { 0 };
+uint8_t obstacle_list[row][col] = { 0 }; // 0 = free | 1 = hard surface object | 2 = inaccesable (robot diameter) | 3 = LEGO undefined | 4 = LEGO red
 position walkpath[5 * row] = { 0 };
 position target = {0};