Diff: main/main.cpp

Revision:

47:745c8846a92d

Parent:

46:c770365cf5a6

--- a/main/main.cpp	Thu Apr 16 06:25:18 2020 +0000
+++ b/main/main.cpp	Thu Apr 16 16:25:02 2020 +0000
@@ -650,6 +650,73 @@
         
         wait(1/50);
     }
+    
+     //// basic requirement is to add a valid path from the curr node to the start node
+//    // if possible traverse this path back to the start then end
+//    
+//    // create a sub array of nodes between start and curr node
+//    // remove all  dead ends and repeated nodes
+//    // add that array to the end of the path
+//    
+//    char sub_path[100];
+//    char prev_nodes[100];
+//    int prev_length = 0;
+//    int sub_length = 0;
+//    int index1;
+//    int index2;
+//    
+//    for(int i = 0; i <= path_length; i++) {
+//        sub_path[i] = looped_path[i];
+//        if( looped_path[i] == point[curr_index] ) { sub_length = i; break; }
+//    }
+//    
+//    bool error = true;
+//    
+//    while (error) {
+//        for(int i = 0; i <= sub_length; i++) {
+//            bool in_prev = false;
+//            for( int l = 0; l<=prev_length; l++ ) {
+//                if( sub_path[i] == prev_nodes[l] ) { in_prev = true; }
+//            }
+//            if( in_prev ) { 
+//                index1 = i;
+//                for(int j = 0; j <= sub_length; j++){
+//                    if(sub_path[j] == sub_path[index1]) {
+//                        index2 = j;
+//                        break;
+//                    }
+//                }
+//                break;
+//            } else if( sub_path[i] != NULL ) {
+//                prev_length++;
+//                prev_nodes[prev_length] = sub_path[i];
+//            }
+//        }
+//        
+//        // set all nodes between the indexes to null
+//        for( int k = index1+1; k <= index2; k++ ) {
+//            sub_path[k] = NULL;
+//        }
+//        int real_len = 0;
+//        for( int x = 0; x <= sub_length; x++ ) {
+//            if( sub_path[x] != NULL ) { real_len++; }
+//        } 
+//        
+//        if( prev_length == real_len ) { error = false; }
+//        
+//    }
+//    
+//    leds = 0b1111;
+//    for(int m = 0; m <= sub_length; m++) {
+//        leds = ~leds;
+//        char buffer[1];
+//        sprintf(buffer,"%d", sub_path[m]);
+//        robot.lcd_print(buffer,1);
+//        wait(3);
+//        robot.lcd_clear();
+//    }
+//    // print these to check
+//    // add inverted sub path to the real path and increment the path length by real_len -1
 }
 
 void follow_line()