public static void Main(string[] args)
{
// Create serial port
string portName = "COM3";
myPort = new SerialPort(portName);
// Try to send data over port
string testString = "Hi there";
sendStringSerial(testString);
// Start receiving data over serial port (Arduino serial.write commands will show up)
startSerialListen();
// Get most recent CubeExplorer solution
string webData = cubeExplorer.mostRecentSolution();
// Display the solution received from CubeExplorer
Console.WriteLine("Solution to carry out:");
Console.WriteLine(webData + "\n");
// Stores the best sequence of moves to carry out the solution from CubeExplorer discovered so far
SolvingSequence bestSequence = Solver.findBestSeq(webData);
// Prints the best sequence found
Console.WriteLine("Best sequence found:");
bestSequence.printSequence();
Console.WriteLine();
// Print statistics on the solving sequence
Console.WriteLine("Best sequence statistics:");
bestSequence.calculate();
bestSequence.printStatistics();
// Print low level claw instructions to carry out bestSequence
printLowLevel(bestSequence.moves);
// Keeps the console window open
Console.ReadLine();
}
// Find the best way to carry out the solution "inSoln" using our claws
public static SolvingSequence findBestSeq(string inSoln)
{
SolvingSequence bestSequence = new SolvingSequence(new List <string> {
});
bestSequence.totalTime = 9000; // The total time of this sequence is initialized to a very high value so that the first sequence found will replace this empty starting one
// The program loops a certain number of times. Each time, it finds a sequence of moves that will carry out the solution given by CubeExplorer.
// The best solution is stored and displayed at the end.
for (int j = 0; j < 1000; j++)
{
// For debugging purposes, one possible color arrangement is as follows: Red = front, green = right, yellow = up, orange = back, blue = left, white = down.
// Using colors makes it easier to keep track which face is the F face, for instance, after the cube has been rotated.
// This constructor takes the three cycles produced by the NE, SE, and equatorial rotations
Cube myCube = new Cube(new List <string> {
"F", "D", "B", "U"
}, new List <string> {
"R", "U", "L", "D"
}, new List <string> {
"R", "B", "L", "F"
});
// Creates a SolvingSequence to hold the sequence of moves that will be generated
SolvingSequence sequence = new SolvingSequence(new List <string> {
});
// Goes through each instruction the solving method provided by CubeExplorer, and determines a way in which the robot could carry it out
for (int i = 0; i < inSoln.Length; i++)
{
// Gets the next character in the instructions.
// This can be the next face to access, but also spaces and modifiers like "2" and "'"
// We only work with it if it is a face, and we look ahead to see modifiers
char face = inSoln[i];
// If the next character specifies a face to be accessed, this section stores a move to access the face in sequence.moves
if (face == 'R' || face == 'L' || face == 'F' || face == 'U' || face == 'B' || face == 'D')
{
// Determines the needed cube rotation, if any
string rotationUsed = myCube.AccessFace(Convert.ToString(face));
// Stores the cube rotation, if applicable
if (rotationUsed != "")
{
sequence.moves.Add(rotationUsed);
}
// Determines and stores the face that needs to be turned
if (myCube.ne.faceList[0] == Convert.ToString(face))
{
if (inSoln[i + 1] == ' ')
{
sequence.moves.Add("1");
}
else if (inSoln[i + 1] == '\'')
{
sequence.moves.Add("1p");
}
else if (inSoln[i + 1] == '2')
{
sequence.moves.Add("12");
}
}
else if (myCube.se.faceList[0] == Convert.ToString(face))
{
if (inSoln[i + 1] == ' ')
{
sequence.moves.Add("2");
}
else if (inSoln[i + 1] == '\'')
{
sequence.moves.Add("2p");
}
else if (inSoln[i + 1] == '2')
{
sequence.moves.Add("22");
}
}
}
}
// Calculates how long the sequence takes to execute
sequence.calculate();
// Stores the sequence just calculated in bestSequence if the just calculated sequence is faster than the best sequence found so far
if (sequence.totalTime < bestSequence.totalTime)
{
bestSequence.totalTime = sequence.totalTime;
bestSequence.moves.Clear();
for (int i = 0; i < sequence.moves.Count; i++)
{
bestSequence.moves.Add(sequence.moves[i]);
}
bool verboseSeqResults = false;
if (verboseSeqResults == true)
{
bestSequence.printSequence();
bestSequence.calculate();
bestSequence.printStatistics();
}
}
}
return(bestSequence);
}
