Colony » Colony Scout » Colony Scout OS

// we assume we are facing right, that affects where we store

// wall information

// -1 for wall, 0 for unseen, 1 for traveled, 2 for critical

#define WALL -1

#define UNSEEN 0

#define SEEN 1

#define RIGHT 1

#define DOWN 2

#define LEFT 3

void maze_solve::run(){

    // TODO:first initialize map to all 0's

bool maze_solve::solve(int row, int col, int dir)

{

    // use backtracking to solve the maze

    if (at_destination())

    {

        // Turn up.

        turn_from_to(dir, UP);

        // Solve recursively.

        bool solved = solve(row-1, col, DOWN);

        if (solved)

    {

        // Turn right.

        turn_from_to(dir, RIGHT);

        // Solve recursively.

        bool solved = solve(row, col+1, LEFT);

        if (solved)

    {

        // Turn down.

        turn_from_to(dir, DOWN);

        // Solve recursively.

        bool solved = solve(row+1, col, UP);

        if (solved)

    {

        // Turn down.

        turn_from_to(dir, LEFT);

        // Solve recursively.

        bool solved = solve(row, col-1, RIGHT);

        if (solved)

    // we have exhausted all the options. This path is clearly a

    // dead end. go back to where we come from and return false.

    turn_from_to(dir, initial_dir);

    return false;

}

// into it intended direction

void maze_solve::turn_from_to(int current_dir, int intended_dir) {

    switch ((4 + intended_dir - current_dir) % 4) 

        case 0:

            spot_turn();

            break;

        case 3:

            turn_left();

            break;

}

void maze_solve::look_around(int row, int col, int dir)

    // there is a wall into the map

    // stores at row col 2 if point is critical, 1 otherwise

    // Look to the right.

    int right_distance = (readings[1] + readings[0] + readings[47])/3;