/*
* This method scrambles a virtual cube, as such
* it cannot be used with a real cube.
*/
public static void Randomizer(Cube a, int count)
{
Random rand = new Random();
int aux;
for (int i = 0; i < count; i++) {
aux = rand.Next () % 5;
switch (aux) {
case 0:
a.TurnRowCW ();
break;
case 1:
a.TurnRowCCW ();
break;
case 2:
a.Roll ();
break;
case 3:
a.TurnCubeCW ();
break;
case 4:
a.TurnCubeCCW ();
break;
}
}
GoToInitial (a);
}
public static void Main(string[] args)
{
var sensor = new EV3ColorSensor(SensorPort.In1);
sensor.Mode = ColorMode.RGB;
Motor motorA = new Motor(MotorPort.OutA);
Motor motorB = new Motor(MotorPort.OutB);
Motor motorD = new Motor(MotorPort.OutD);
string solution;
Cube cube = new Cube (motorA, motorB, motorD); // instantiate a real cube
// Cube cube = new Cube (); // virtual cube used for tests
// Solver.Randomizer (cube, 5000); // scramble the virtual cube
DateTime starttime = DateTime.Now;
TimeSpan elapsedtime = new TimeSpan ();
MoveCube.BuildCube2P(cube, MoveCube.BuildCube (cube, motorA, motorB, motorD, sensor));
elapsedtime = DateTime.Now - starttime;
Console.WriteLine (cube.GetCubeMap());
Console.WriteLine (cube.ToString ());
Console.WriteLine ("Elapsed time scanning cube: {0}", elapsedtime);
starttime = DateTime.Now;
// uncomment line below if you want to use the internal algorithm to solve the cube.
// It's the easiest way, but also the slowest.
// solution = Solver.Solve (cube);
// comment the following block if you intend to use the internal algorithm to solve
// the cube. By default the main program tries to read the solution from a solution
// file. Just run the Kociemba algorithm on a pc and use scp, putty or any other ssh
// tool to send the file to the intelligent Lego brick.
Communication.ClearCube (Communication.CubePath);
Communication.ClearCube (Communication.SolutionPath);
Communication.SaveCube (Communication.CubePath, cube.ToString ());
solution = Communication.ReceiveSolution ();
elapsedtime = DateTime.Now - starttime;
Console.WriteLine ("Solution: {0}", solution);
Console.WriteLine ("Elapsed time receiving solution: {0}", elapsedtime);
starttime = DateTime.Now;
Solver.TranslateMove (solution, cube);
Console.WriteLine (cube.GetCubeMap ());
elapsedtime = DateTime.Now - starttime;
Console.WriteLine ("Time elapsed moving cube: {0}", elapsedtime);
Communication.ClearCube (Communication.CubePath);
Communication.ClearCube (Communication.SolutionPath);
}
public static readonly int SensorSide = 87; //79
#endregion Fields
#region Methods
/*
* This method controls the movements of the robot to position
* each face of the cube to be scanned by the color sensor.
*/
public static char[] BuildCube(Cube cube, Motor motorA, Motor motorB, Motor motorD, EV3ColorSensor sensor)
{
char[] faces = new char[6];
// Position face in cube
for (int j = 0; j < 6; j++) {
switch (j) {
case 0:
BuildFace (cube.face[3], motorA, motorB, sensor);
cube.face [3].TurnCWCore ();
cube.face [3].TurnCWCore ();
MoveCube.Move (motorD, MoveCube.GrabArm);
MoveCube.Move (motorD, MoveCube.PullArm);
MoveCube.Move (motorD, MoveCube.RestArm);
break;
case 1:
BuildFace (cube.face[2], motorA, motorB, sensor);
cube.face [2].TurnCWCore ();
MoveCube.Move (motorD, MoveCube.GrabArm);
MoveCube.Move (motorD, MoveCube.PullArm);
MoveCube.Move (motorD, MoveCube.RestArm);
break;
case 2:
BuildFace (cube.face[1], motorA, motorB, sensor);
MoveCube.MoveRel (motorA, MoveCube.CCW90);
MoveCube.Move (motorD, MoveCube.GrabArm);
MoveCube.Move (motorD, MoveCube.PullArm);
MoveCube.Move (motorD, MoveCube.RestArm);
break;
case 3:
BuildFace (cube.face[0], motorA, motorB, sensor);
cube.face [0].TurnCCWCore ();
MoveCube.MoveRel (motorA, MoveCube.CW90);
MoveCube.Move (motorD, MoveCube.GrabArm);
MoveCube.Move (motorD, MoveCube.PullArm);
MoveCube.Move (motorD, MoveCube.RestArm);
break;
case 4:
BuildFace (cube.face [4], motorA, motorB, sensor);
MoveCube.Move (motorD, MoveCube.GrabArm);
MoveCube.Move (motorD, MoveCube.PullArm);
MoveCube.Move (motorD, MoveCube.RestArm);
break;
case 5:
BuildFace (cube.face [5], motorA, motorB, sensor);
break;
}
}
for (int i = 0; i < 6; i++)
faces [i] = cube.face [i].square [1, 1];
return faces;
}
/*
* This method positions any specified face in the bottom
* of the cube (a face is specified by its central facelet).
*/
public static void GoToFace(string face, Cube a)
{
if (a.face [5].square [1, 1].ToString() == face) {
a.Roll ();
a.Roll ();
} else if (a.face [4].square [1, 1].ToString () == face) {
a.Roll ();
} else if (a.face [3].square [1, 1].ToString () == face) {
a.TurnCubeCW ();
a.Roll ();
} else if (a.face [2].square [1, 1].ToString () == face) {
a.TurnCube180 ();
a.Roll ();
} else if (a.face [1].square [1, 1].ToString () == face) {
a.TurnCubeCCW ();
a.Roll ();
}
}
/*
* This method translates the string retrieved from Kociemba's two-phase
* algorithm into movements of the virtual and real cube (if instantiated).
*/
public static void TranslateMove(String move, Cube a)
{
string aux;
bool turn = false;
for (int i = 0; i < move.Length; i++){
aux = move.Substring (i, 1);
switch (aux) {
case "U":
case "D":
case "L":
case "R":
case "F":
case "B":
turn = true;
GoToFace (aux, a);
break;
default:
continue;
}
if (turn){
turn = false;
aux = move.Substring (i + 1, 1);
switch (aux) {
case "\'":
a.TurnRowCCW ();
break;
case "2":
a.TurnRow180 ();
break;
default:
a.TurnRowCW ();
break;
}
}
}
a.RestArm ();
}
/*
* Converts facelets' colors into a metaformat used by Kociemba's algorithm.
* Kociemba's algorithm always uses an immutable metaformat.
* This means that the front of the cube will always stay in
* in front, top on top, back in back, etc.
* By calling this method, whichever color of the central facelet that
* happens to be on top will become the top in the metaformat, the color on
* on the frontal central facelet will become the new front, and so on. This saves
* the trouble of repositioning the cube before solving it instead of when the colors
* are fixed to each of the faces in the metaformat.
*/
public static void BuildCube2P(Cube a, char[] faces)
{
for (int k = 0; k < 6; k++)
for (int i = 0; i < 3; i++)
for (int j = 0; j < 3; j++){
if (faces [0] == a.face [k].square [i,j])
a.face [k].square [i,j] = 'F';
else if (faces [1] == a.face [k].square [i,j])
a.face [k].square [i,j] = 'D';
else if (faces [2] == a.face [k].square [i,j])
a.face [k].square [i,j] = 'L';
else if (faces [3] == a.face [k].square [i,j])
a.face [k].square [i,j] = 'U';
else if (faces [4] == a.face [k].square [i,j])
a.face [k].square [i,j] = 'R';
else if (faces [5] == a.face [k].square [i,j])
a.face [k].square [i,j] = 'B';
}
}
/*
* This method just delegates the solving of the cube
* to Kociemba's algorithm.
*/
public static String Solve(Cube a)
{
return Search.solution (a.ToString (), 20, true);
}
/*
* Used only by the Randomizer function, to return the cube to the original position
* Not necessary if MoveCube is building the cube through color scan
*/
private static void GoToInitial(Cube a)
{
GoToFace ("F", a);
switch (a.face [1].square[1,1].ToString()) {
case "L":
a.TurnCubeCW ();
break;
case "R":
a.TurnCubeCCW ();
break;
case "U":
a.TurnCube180();
break;
}
}
