Diff: main/main.cpp

Revision:

24:adb946be4ce5

Parent:

23:71e84953b3f3

Child:

25:7523239a2fc1

--- a/main/main.cpp	Wed Apr 08 21:57:10 2020 +0000
+++ b/main/main.cpp	Thu Apr 09 00:52:46 2020 +0000
@@ -1,4 +1,5 @@
 #include "main.h"
+#include <math.h> 
 
 // API
 m3pi robot;
@@ -159,7 +160,7 @@
 
 void looped()  
 {
-    if(first) {   // init the start node
+    if( first ) {   // init the start node on first loop run only
         first = false;
         curr_coords[0] = 0;
         curr_coords[1] = 0;
@@ -168,14 +169,13 @@
         point[total_points] = total_points;
         coords_x[total_points] = curr_coords[0];
         coords_y[total_points] = curr_coords[1];
-        type[total_points] = 0b1000;
-        explored[total_points = 0b0000; // not sure if i set this as explored already or whether i do that at the next junction
+        type[total_points] = 0b1000;     // start is always 1 exit type in the north direction
+        explored[total_points] = 0b0000; // not sure if i set this as explored already or whether i do that at the next junction
         looped_path[total_points] = 0; // start node is '0'
-        //total_points++;
     }
     
       // follow line until reaching a junction, determine its type and coordinates
-    if (t_restart){                // only start the timer if it isnt already started
+    if ( t_restart ){                // only start the timer if it isnt already started
         t_coord.start();
         t_restart = false;
     }
@@ -183,13 +183,13 @@
     follow_line();
     
     if ( junction_detect() ) {
-        path_length++;   // index to path position
+        path_length++;   // increment the path position index
         
         float time = t_coord.read();
-        int dist_est = round(time);
+        int dist_est = floor(time);
         t_coord.stop();
         t_coord.reset();
-        t_restart = true; //restart the timer
+        t_restart = true; //restart the timer next loop
         
         if (dir == 'N'){ curr_coords[1] += dist_est; }  // y coord
         if (dir == 'E'){ curr_coords[0] += dist_est; }  // x coord
@@ -199,18 +199,17 @@
         // check that the coordinates are not already in the list, if not add the point, if it is already return the point number and increment the explored
         if (coord_check()) {  // coord_check returns true if curr_coords coordinates are not present in (should set a variable as true)
             total_points++;
-            point[total_points] = total_points; // numbered 1 -> x
+            point[total_points] = total_points; // numbered 0 -> total_points
             coords_x[total_points] = curr_coords[0];
             coords_y[total_points] = curr_coords[1];
             node_logic(); // determines what junction type we are at updates the explored (path entered on) and type arrays accordingly
-            // update type and explored aswell might need to be done in node logic
         }
         
         // use current coords to find which point to place in path
         looped_path[path_length] = coord_to_node(); //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
         
-        check_explored(); // iterates through all existing points, if all explored match type, then mapping is complete
+        // check_explored(); // iterates through all existing points, if all explored match type, then mapping is complete
         // if not, make a func that traverses back through the bath until reaching that node, then explore the unexplored path
         
         // assign new node with new coordinates
@@ -262,11 +261,12 @@
         }
     }
     
-    return point[i];
+    return point[result];
 }
 
 void node_logic()
 {
+    // is done when a new node is discovered, needs to update the nodes type and the path explored upon entry
     bool north = false;
     bool south = false;
     bool east = false;
@@ -372,9 +372,7 @@
 
 void choose_turn() 
 {
-    // compares the type to the explored (type - explored), then uses that as an index for the struct of the turn order priority (turn_order[3] = {'E' , 'N', 'W', 'S'} 
-    // also takes into account current direction (if facing north, it wont take the south path for example)
-    // do this in point type
+    // looks at the type vs the explored and does the turn that is equivalent to the first 1 in type that is a 0 in explored (WNES priority)
     
 }