public RotatingRobot()
{
sL = new Sensor(LEFT);
sR = new Sensor(RIGHT);
actuatorDirection = 0;
facing = 0;
}
//Pre: Current robot position and direction that the robot is facing
//Post: Updated position of the robot in the grid, triggering a move.
public bool moveForward(int[] pos, robotDirection x)
{
if (x == robotDirection.Forward)
{
pos[row] -= MOVE;
return(true);
}
else if (x == robotDirection.Backward)
{
pos[row] += MOVE;
return(true);
}
else if (x == robotDirection.Left)
{
pos[column] -= MOVE;
return(true);
}
else if (x == robotDirection.Right)
{
pos[column] += MOVE;
return(true);
}
else
{
return(false);
}
}
public RotatingRobot(string filename)
{
sL = new Sensor(LEFT);
sR = new Sensor(RIGHT);
actuatorDirection = 0;
facing = 0;
getGrid(filename);
}
public Robot(string filename)
{
s = new Sensor();
a = new Actuator(0);
robotDir = 0;
count_moves = 0;
getGrid(filename);
}
public Robot()
{
s = new Sensor();
a = new Actuator(0);
for (uint i = 0; i < ARR_SIZE; i++)
{
position[i] = START_POSITION;
}
robotDir = 0;
//getGrid();
}
public override bool isValid()
{
if (s.isValid(position, grid, this))
{
nextDirection = (robotDirection)robotDir;
return(true);
}
if (sR.isValid(position, grid, this))
{
nextDirection = (robotDirection)robotDir;
return(true);
}
if (sL.isValid(position, grid, this))
{
nextDirection = (robotDirection)robotDir;
return(true);
}
return(false);
}
//Pre:Current direction of sensors and the direction of the robot.
//Post: Fully updated direction of the robot, actuator, and sensors
//for the robot to continue moving throughout the grid.
public void Rotate(robotDirection change)
{
if (facing == robotDirection.Forward)
{
if (change == robotDirection.Right)
{
facing = robotDirection.Right;
s.changeDirection(facing);
sR.changeDirection(robotDirection.Backward);
sL.changeDirection(robotDirection.Forward);
a.changeDirection(facing);
}
else if (change == robotDirection.Left)
{
facing = robotDirection.Left;
s.changeDirection(facing);
sR.changeDirection(robotDirection.Forward);
sL.changeDirection(robotDirection.Backward);
a.changeDirection(facing);
}
}
else if (facing == robotDirection.Left)
{
if (change == robotDirection.Forward)
{
facing = robotDirection.Forward;
s.changeDirection(facing);
sR.changeDirection(robotDirection.Right);
sL.changeDirection(robotDirection.Left);
a.changeDirection(facing);
}
else if (change == robotDirection.Backward)
{
facing = robotDirection.Backward;
s.changeDirection(facing);
sR.changeDirection(robotDirection.Left);
sL.changeDirection(robotDirection.Right);
a.changeDirection(facing);
}
}
else if (facing == robotDirection.Backward)
{
if (change == robotDirection.Right)
{
facing = robotDirection.Right;
s.changeDirection(facing);
sR.changeDirection(robotDirection.Forward);
sL.changeDirection(robotDirection.Backward);
a.changeDirection(facing);
}
else if (change == robotDirection.Left)
{
facing = robotDirection.Left;
s.changeDirection(facing);
sR.changeDirection(robotDirection.Backward);
sL.changeDirection(robotDirection.Forward);
a.changeDirection(facing);
}
}
else if (facing == robotDirection.Right)
{
if (change == robotDirection.Backward)
{
facing = robotDirection.Backward;
s.changeDirection(facing);
sR.changeDirection(robotDirection.Left);
sL.changeDirection(robotDirection.Right);
a.changeDirection(facing);
}
else if (change == robotDirection.Forward)
{
facing = robotDirection.Forward;
s.changeDirection(facing);
sR.changeDirection(robotDirection.Right);
sL.changeDirection(robotDirection.Left);
a.changeDirection(facing);
}
}
}
//Pre: next valid direction to move in the grid
//Post: updated direction for the sensor to move with the robot.
public void changeDirection(robotDirection newDir)
{
sdir = (SensorDirection)newDir;
}
//Pre: Current direction that the robot is facing.
//Post: Updated direction if the robot needs to rotate.
public void changeDirection(robotDirection newDir)
{
robotDir = newDir;
}
//Pre:Current direction that the robot is facing
//Post:Updated actuator direction to match that of the robot.
public void changeDirection(robotDirection newDir)
{
direction = (Direction)newDir;
}
