Diff: main/main.cpp

Revision:

52:79f21d15ede1

Parent:

51:3148875bb9e5

Child:

53:dbb63b181faf

diff -r 3148875bb9e5 -r 79f21d15ede1 main/main.cpp
--- a/main/main.cpp	Fri Apr 17 16:50:10 2020 +0000
+++ b/main/main.cpp	Fri Apr 17 19:07:29 2020 +0000
@@ -478,7 +478,18 @@
         // if it does, check the number of nodes between before and after
         // which ever is shorter, set the 0 of those nodes
         
-//        int short_length = dead_end_removal(point[d_node], point[curr_node]);
+        //robot.stop();
+//        char buf1[2], buf2[2];
+//        sprintf(buf1,"%d",point[d_node]);
+//        sprintf(buf2,"%d",point[curr_index]);
+//        robot.lcd_print(buf1,2);
+//        wait(2);
+//        robot.lcd_clear();
+//        robot.lcd_print(buf2,2);
+//        wait(2); 
+//        robot.lcd_clear();
+//        
+//        int short_length = dead_end_removal(point[d_node], point[curr_index]);
 //        char dir_diff;
 //        
 //        for(int j = short_length; j > 0; j--) {
@@ -617,9 +628,7 @@
     // dead end removal between start and final node
     // add the inverse of the result to end of the looped_path
     // then separate into before and after, simplify both and compare
-    
     robot.stop();
-    
     int index1, index2;
     int d_index, before_index, after_index;
     bool before = false;
@@ -627,9 +636,9 @@
     bool desired_discovered = false;
         
     for(int k = 0; k <= path_length; k++) {
-        if(looped_path[k] == point[point1]) { desired_discovered = true; d_index = k; }  // maybe set a variable
-        if(desired_discovered == false && looped_path[k] == point[point2]) { before = true; before_index = k; }
-        if(desired_discovered == true && looped_path[k] == point[point2]) { after_index = k; break; }
+        if(looped_path[k] == point1) { desired_discovered = true; d_index = k; }  // maybe set a variable
+        if(desired_discovered == false && looped_path[k] == point2) { before = true; before_index = k; }
+        if(desired_discovered == true && looped_path[k] == point2) { after_index = k; break; }
     }
     
     if(before){
@@ -657,11 +666,11 @@
     
     int length = index2 - index1;
     
-    char buffer[3];
-    sprintf(buffer,"%d", length);
-    robot.lcd_print(buffer,3);
-    wait(2);
-    robot.lcd_clear();
+//    char buffer[3];
+//    sprintf(buffer,"%d", length);
+//    robot.lcd_print(buffer,3);
+//    wait(2);
+//    robot.lcd_clear();
     
     // for every node in path, check if repeated
     // if rpeated, move everyting before the first occurence to the final occurence
@@ -700,15 +709,15 @@
         i++;
     }
     
-    leds = 0b1111;
-    for(int m = 0; m <= length; m++) {
-        leds = ~leds;
-        char buffer[3];
-        sprintf(buffer,"%d", shortest[m]);
-        robot.lcd_print(buffer,3);
-        wait(2);
-        robot.lcd_clear();
-    }
+//    leds = 0b1111;
+//    for(int m = 0; m <= length; m++) {
+//        leds = ~leds;
+//        char buffer[3];
+//        sprintf(buffer,"%d", shortest[m]);
+//        robot.lcd_print(buffer,3);
+//        wait(2);
+//        robot.lcd_clear();
+//    }
     return length;
     // print these to check
     // add inverted sub path to the real path and increment the path length by real_len -1
@@ -994,12 +1003,12 @@
         wait(0.2);
         leds = 0b0110;
         wait(0.2);
-    na = dead_end_removal( point[3], point[2] );
+    na = dead_end_removal( point[2], point[1] );
     leds = 0b1001;
         wait(0.2);
         leds = 0b0110;
         wait(0.2);
-    na = dead_end_removal( point[2], point[3] );
+    na = dead_end_removal( point[4], 100 );
     while( button_enter.read() == 1 ) {
         leds = 0b1001;
         wait(0.2);