Diff: main/main.cpp

Revision:

36:1af069be0fdb

Parent:

35:2fd4ee9ac889

Child:

37:2967f3f9c936

--- a/main/main.cpp	Tue Apr 14 00:41:17 2020 +0000
+++ b/main/main.cpp	Tue Apr 14 14:47:34 2020 +0000
@@ -231,8 +231,8 @@
         robot.lcd_goto_xy(5,1);
         robot.lcd_print(buffer3,2);
         
-        robot.stop();
-        wait(2);
+//        robot.stop();
+//        wait(2);
 
         // use current coords to find which point to place in path
     
@@ -338,8 +338,8 @@
         }
     }
     
-    robot.stop(); 
-    wait(1);
+//    robot.stop(); 
+//    wait(1);
     
 //    if(goal) {
 //        if( dir == 'N' ) { south = true;       _explored |= 0b0001; }  // sets the direction opposite to entry direction as an explored path 
@@ -429,6 +429,7 @@
     
     if (unexp_paths == 0b0000) {
         back_track();
+        unexp_paths = type[curr_index] & ~( explored[curr_index] );
     }
 
     int curr_angle = 0;
@@ -512,19 +513,19 @@
             
             if( dir_diff == 'N' ) { 
                 explored[curr_node] &= 0b1011; 
-                explored[prev_node] &= 0b1110; 
+                //explored[prev_node] &= 0b1110; 
             }
             else if( dir_diff == 'E' ) { 
                 explored[curr_node] &= 0b1101; 
-                explored[prev_node] &= 0b0111; 
+                //explored[prev_node] &= 0b0111; 
             }
             else if( dir_diff == 'S' ) { 
                 explored[curr_node] &= 0b1110; 
-                explored[prev_node] &= 0b1011;
+                //explored[prev_node] &= 0b1011;
             }
             else if( dir_diff == 'W' ) { 
                 explored[curr_node] &= 0b0111;  
-                explored[prev_node] &= 0b1101;
+                //explored[prev_node] &= 0b1101;
             }
             
             if(point[prev_node] == point[pointer]) { break; }