public bool checkWater(int botPosX, int botPosY, Premises premises)
{
if (premises.returnUnderground(botPosX, botPosY).GetType() == typeof(Water))
{
return(true);
}
else
{
return(false);
}
}
static void Main(string[] args)
{
Console.WriteLine("Lass wen retten");
//Test
Premises premises = new Premises(22, 20);
object[,] map = premises.generateMap();
RescueBot rescueBot = new RescueBot(premises.returnStartingPosition()[0], premises.returnStartingPosition()[1], premises);
// Start navigation oder so
// Bot ground movement Test // --> Works!!!
/*
* rescueBot.updateSurroundings();
* Console.WriteLine("PosY{0}, PosX{1}",rescueBot.positionY,rescueBot.positionX);
* rescueBot.driveForward();
* Console.WriteLine("Bot Pos : {0}", rescueBot.returnXpos());
* rescueBot.updateSurroundings();
* Console.WriteLine("PosY{0}, PosX{1}",rescueBot.positionY,rescueBot.positionX);
* rescueBot.driveForward();
* Console.WriteLine("Bot Pos : {0}", rescueBot.returnXpos());
* rescueBot.updateSurroundings();
* Console.WriteLine("PosY{0}, PosX{1}",rescueBot.positionY,rescueBot.positionX);
* rescueBot.driveForward();
* Console.WriteLine("Bot Pos : {0}", rescueBot.returnXpos());
* rescueBot.updateSurroundings();
* Console.WriteLine("PosY{0}, PosX{1}",rescueBot.positionY,rescueBot.positionX);
* rescueBot.driveForward();
* Console.WriteLine("Bot Pos : {0}", rescueBot.returnXpos());
* rescueBot.updateSurroundings();
* Console.WriteLine("PosY{0}, PosX{1}",rescueBot.positionY,rescueBot.positionX);
* rescueBot.driveForward();
* Console.WriteLine("Bot Pos : {0}", rescueBot.returnXpos());
* rescueBot.updateSurroundings();
* Console.WriteLine("PosY{0}, PosX{1}",rescueBot.positionY,rescueBot.positionX);
* rescueBot.driveForward();
*/
// TODO:
// Navigations algorithmus
// Automatisches aufsammeln von passenden gegenständen
// wenn sie sich links, rechts, vor oder hinter dem fahrzeug befinden
// entfernen der gegenstände auf der Karte DONE
// Bot auf der Karte anzeigen
// Bot auf der Karte bewegen
rescueBot.startNavigation(rescueBot);
}
public Ground[] detectSourroundings(int botPosX, int botPosY, Premises premises)
{
// 0 = current, 1 = left, 2 = right, 3 = behind, 4 = infront
// Cast the objects to Ground Objects
Ground[] sourroundings = new Ground[5];
sourroundings[0] = (Ground)premises.returnUnderground(botPosX, botPosY);
sourroundings[1] = (Ground)premises.returnUnderground(botPosX - 1, botPosY);
sourroundings[2] = (Ground)premises.returnUnderground(botPosX + 1, botPosY);
sourroundings[3] = (Ground)premises.returnUnderground(botPosX, botPosY + 1);
sourroundings[4] = (Ground)premises.returnUnderground(botPosX, botPosY - 1);
return(sourroundings);
}
// Der bot sollte noch eine Eigene Karte haben die er zur laufzeit erstellt um den weg zurück zu finden.
public RescueBot(int posX, int posY, Premises premises)
{
this.premises = premises;
this.positionX = posX;
this.positionY = posY;
this.startPositionX = posX;
this.startPositionY = posY;
Console.WriteLine("Rescue Bot generated at X:{0}, Y:{1}", this.positionX, this.positionY);
// Motoren innerhalöb des Bauteils Initialisieren
this.motorChainDriveLeft = new Motor(100, "ChainDriveLeft", false, 0, 0);
this.motorChainDriveRight = new Motor(100, "ChainDriveRight", false, 0, 0);
this.turbine = new Motor(100, "Turbine", false, 0, 0);
this.rudder = new Motor(100, "Rudder", false, 0, 100);
// Initilise Grappler and support
this.grappler = new Grappler();
this.support = new Support();
this.currentLoad = 0;
this.boxCover = new BoxCover();
// Kommunikation-Subsystem:
this.camera = new Camera();
this.microphon = new Microphon();
this.loudspeaker = new Loudspeaker();
this.capacitySensor = new CapacitySensor();
//Objektbergung-Subsystem:
this.lidar = new LIDARSensor();
this.geiger = new GeigerCounter();
// Navigation-Subsystem:
this.navigation = new Navigation();
//Signalverfolgung-Subsystem:
this.leftAntenna = new LeftAntenna();
this.rightAntenna = new RightAntenna();
this.backsideAntenna = new BacksideAntenna();
}
public int[,] getSignal(Premises premises)
{
int[,] allmessages = new int[3, 3];
allmessages = premises.radioTowersSend();
return(allmessages);
}