private void Navigate()
{
if (Robot.TurnRemaining == 0)
{
double distance = Robot.DetermineDistance(Robot.CurrentDirection);
if (Robot.DistanceRemaining <= 0 && currentMeetAndGreetPhase == MeetAndGreetStep.DriveCurve)
{
if (distance > SMALLER_OFFSET)
{
Robot.SetAhead(distance - OFFSET);
}
currentMeetAndGreetPhase = MeetAndGreetStep.MoveForward;
}
else if (Robot.DistanceRemaining <= 0 && currentMeetAndGreetPhase == MeetAndGreetStep.MoveForward)
{
if (Robot.DetermineDistance(Robot.DetermineLeftDirection(Robot.CurrentDirection)) > SMALLER_OFFSET && distance >= SMALLER_OFFSET)
{
Robot.SetAhead(50);
}
Robot.SetTurnLeft(90);
currentMeetAndGreetPhase = MeetAndGreetStep.DriveCurve;
}
}
}
public override void ActivatePhase(RoboPhase previousPhase)
{
base.ActivatePhase(previousPhase);
currentMeetAndGreetPhase = MeetAndGreetStep.MoveForward;
Robot.SetTurnLeft(Robot.Heading % 90);
}
