public void Scan()
{
_tableau[0, 0] = 0;
while (IsExplored(_tableau))
{
var obstacle = _motion.Move(1);
var lookAt = new Position()
{
x = 0, y = 0
};
var angle = _motion.GetAngle();
if (!obstacle)
{
switch (angle)
{
case 0:
lookAt.SetPosition(1, 0);
break;
case 90:
lookAt.SetPosition(0, -1);
break;
case 180:
lookAt.SetPosition(-1, 0);
break;
case 270:
lookAt.SetPosition(0, 1);
break;
}
_tableau[lookAt.x, lookAt.y] = 1;
localPosition.x += lookAt.x;
localPosition.y += lookAt.y;
}
else
{
_tableau[lookAt.x, lookAt.y] = -1;
_motion.Rotate(90);
}
}
}