Diff: main/main.cpp

Revision:

56:1cd434b28322

Parent:

55:18ea9529afb2

Child:

57:9f9067e3f99e

--- a/main/main.cpp	Fri Apr 17 23:52:23 2020 +0000
+++ b/main/main.cpp	Fri Apr 17 23:57:07 2020 +0000
@@ -168,7 +168,7 @@
         coords_x[total_points] = curr_coords[0];
         coords_y[total_points] = curr_coords[1];
         type[total_points] = 0b0100;              // start is always 1 exit type in the north direction
-        explored[total_points] = 0b0100;          
+        explored[total_points] = 0b0000;          
         looped_path[total_points] = 0;            // start node is '0'
     }
     
@@ -443,7 +443,7 @@
     
 //    if( turn_angle != 180 ) { robot.forward(speed); wait(0.05); } // maybe remove
     
-    if( turn_angle == 0)  { robot.forward(speed); wait(0.1); turn_select('S'); } 
+    if( turn_angle == 0)  { robot.forward(speed); wait(0.15); turn_select('S'); } 
     else if( turn_angle == 90)  { turn_select('R'); } 
     else if( turn_angle == 180)  { turn_select('B'); } 
     else if( turn_angle == 270)  { turn_select('L'); } 
@@ -566,102 +566,6 @@
         
  //       print_data("aft bt");
 
-        //int curr_node = curr_index;
-//        bool before = false;
-//        bool after = false;
-//        int before_index;
-//        int after_index;
-//        
-//        bool desired_discovered = false;
-//        for(int k = 0; k <= path_length; k++) {
-//            if(looped_path[k] == point[d_node]) { desired_discovered = true; }  // maybe set a variable
-//            if(desired_discovered == false && looped_path[k] == point[curr_node]) { before = true; before_index = k; }
-//            if(desired_discovered == true && looped_path[k] == point[curr_node]) { after_index = k; break; }
-//        }
-//        
-//        
-//        if( before_index < after_index ){
-//            before = true;
-//            after = false;
-//        }
-//        else{
-//            before = false;
-//            after = true;
-//        }
-//        
-//        
-//        char dir_diff;
-//        
-//        if(after == true) {
-//             
-//            for(int j = after_index; j >= 0; j--) {
-//                curr_node = path_to_point_index(looped_path[j]);
-//                
-//                int prev_node = path_to_point_index(looped_path[j-1]);
-//                if(coords_x[prev_node] != coords_x[curr_node]) {
-//                    if(coords_x[prev_node] - coords_x[curr_node] > 0){
-//                        dir_diff = 'E';
-//                    } else {
-//                        dir_diff = 'W';
-//                    }
-//                } else if( coords_y[prev_node] != coords_y[curr_node] ) {
-//                    if(coords_y[prev_node] - coords_y[curr_node] > 0){
-//                        dir_diff = 'N';
-//                    } else {
-//                        dir_diff = 'S';
-//                    }
-//                }
-//                
-//                if( dir_diff == 'N' ) { 
-//                    explored[curr_node] &= 0b1011;
-//                }
-//                else if( dir_diff == 'E' ) { 
-//                    explored[curr_node] &= 0b1101; 
-//                }
-//                else if( dir_diff == 'S' ) { 
-//                    explored[curr_node] &= 0b1110;
-//                }
-//                else if( dir_diff == 'W' ) { 
-//                    explored[curr_node] &= 0b0111;
-//                }
-//                if(point[prev_node] == point[d_node]) { break; }
-//            }
-//        }
-//        
-//        else if( before == true ) {
-//            for(int j = before_index; j <= path_length; j++) {
-//                curr_node = path_to_point_index(looped_path[j]);
-//                
-//                int next_node = path_to_point_index(looped_path[j+1]);
-//                if(coords_x[next_node] != coords_x[curr_node]) {
-//                    if(coords_x[next_node] - coords_x[curr_node] > 0){
-//                        dir_diff = 'E';
-//                    } else {
-//                        dir_diff = 'W';
-//                    }
-//                } else if( coords_y[next_node] != coords_y[curr_node] ) {
-//                    if(coords_y[next_node] - coords_y[curr_node] > 0){
-//                        dir_diff = 'N';
-//                    } else {
-//                        dir_diff = 'S';
-//                    }
-//                }
-//                
-//                if( dir_diff == 'N' ) { 
-//                    explored[curr_node] &= 0b1011;
-//                }
-//                else if( dir_diff == 'E' ) { 
-//                    explored[curr_node] &= 0b1101; 
-//                }
-//                else if( dir_diff == 'S' ) { 
-//                    explored[curr_node] &= 0b1110;
-//                }
-//                else if( dir_diff == 'W' ) { 
-//                    explored[curr_node] &= 0b0111;
-//                }
-//                if(point[next_node] == point[d_node]) { break; }
-//            }
-//        }
     }
 }