Diff: main/main.cpp

Revision:

31:1e6d0ef05996

Parent:

30:d62f122e8d60

Child:

32:598bedb22c7c

--- a/main/main.cpp	Sun Apr 12 12:49:56 2020 +0000
+++ b/main/main.cpp	Sun Apr 12 18:54:48 2020 +0000
@@ -207,17 +207,25 @@
             
             coords_x[total_points] = curr_coords[0];
             coords_y[total_points] = curr_coords[1];
-            
+            update_index();
+        
+            char buffer[1];
+        
+            sprintf(buffer,"%x",type[curr_index]);
+            robot.lcd_clear();
+            robot.lcd_print(buffer,1);  
+            wait(0.5);
         }
         
         // use current coords to find which point to place in path
-        update_index();
+        
+    
         looped_path[path_length] = point[curr_index]; //returns an int of which point we are at what its called
         choose_turn(); //looks at the point we are at, examines the type vs explored and makes the appropriate turn also updates the explored
         
         if (retrace) {
             // maybe do backtrack before choose turn? and put the retrace check in node logic
-            // back_track();  // if no node exists with unexplored paths, set complete to true true, else return to a previous node by going back through the path, increment the path length and add nodes appropriately and return false 
+            back_track();  // if no node exists with unexplored paths, set complete to true true, else return to a previous node by going back through the path, increment the path length and add nodes appropriately and return false 
         }
         
         if (complete) {
@@ -252,7 +260,12 @@
 //    robot.lcd_print(xcors,100);
 //    robot.lcd_goto_xy(0,1);
 //    robot.lcd_print(ycors,100);
-    
+
+//    robot.lcd_clear();
+//    char *b = &dir;
+//    robot.lcd_print(b,1);
+
+      
     //robot.display_data();
 }
 
@@ -420,9 +433,6 @@
     
     if( unexp_paths == 0b0000 ) { 
         retrace = true; 
-        while(1) {
-            robot.stop();
-        }
     }
     
     else {