Colony » Colony Scout

/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

#ifndef _MAZE_SOLVE_H_

#define _MAZE_SOLVE_H_

#include "line_follow.h"

/* Details about map:

 * 1 meter = 200 pixels

 * 1 block is a 13x13 pixel section

 * actual meter x meter map has 15 blocks in one row/column

 * # blocks per robot map row = 2*(block per map's row)-1

 */

// number of blocks in one row/column of robot's map

#define MAP_LENGTH 29

class maze_solve: public line_follow

{

    public:

        maze_solve(std::string scoutname, Sensors* sensors):

            line_follow(scoutname, "maze_solve", sensors) {};

        void run();

    private:

        int choose_direc(int row, int col, int info);

        bool solve(int row, int col, int dir);

        void turn_from_to(int current_dir, int intended_dir);

        bool look_around(int row, int col, int dir);

        bool at_destination();

        // functions for changing direction or moving

        void turn_straight(int dir);

        void turn_right();

        void spot_turn();

        void turn_left();

        /* Initialize map so that boundaries MAP_LENGTH away

         * from the center. Then car won't go outside of

         * map even if it starts at a boundary and goes to

         * the other side.

         * Rows top to bottom, and columns left to right

        */

        int map[MAP_LENGTH][MAP_LENGTH];

};

#endif