public void reInit(object_seen a, object_seen b, object_seen c)
{
a.taken = false;
a.height = 2;
b.taken = false;
b.height = 5;
c.taken = false;
c.height = 7;
}
//checks if any of the objects given are empty
public bool three_filled(object_seen a, object_seen b, object_seen c)
{
if (a.taken == true && b.taken == true && c.taken == true)
{
return(true);
}
else
{
return(false);
}
}
public bool helperMethod(object_seen a, object_seen b, object_seen c, int x, int y)
{
if (a.taken == false)
{
if (a.height != b.height)
{
if (a.height != c.height)
{
return(true);
}
}
}
return(false);
}
/*
* initalizes the object_seen structs such that the taken value is false
*/
public void init()
{
blue1 = new object_seen();
blue2 = new object_seen();
blue3 = new object_seen();
reInit(blue1, blue2, blue3);
red1 = new object_seen();
red2 = new object_seen();
red3 = new object_seen();
reInit(red1, red2, red3);
green1 = new object_seen();
green2 = new object_seen();
green3 = new object_seen();
reInit(green1, green2, green3);
}
//compare size of objects and put them in an array from biggest to smallest.
public object_seen[] findBiggest(object_seen a, object_seen b, object_seen c)
{
object_seen[] inOrder;
inOrder = new object_seen[3];
if (a.height > b.height)
{
if (b.height > c.height)
{
inOrder[0] = a;
inOrder[1] = b;
inOrder[2] = c;
}
else if (c.height > a.height)
{
inOrder[0] = c;
inOrder[1] = a;
inOrder[2] = b;
}
}
else if (a.height > c.height)
{
inOrder[0] = b;
inOrder[1] = a;
inOrder[2] = c;
}
else if (b.height > c.height)
{
inOrder[0] = b;
inOrder[1] = c;
inOrder[2] = a;
}
else
{
inOrder[0] = c;
inOrder[1] = b;
inOrder[2] = a;
}
return(inOrder);
}
//figure out where each object is relative to the desired location.
public void get_barring(object_seen a, object_seen b, object_seen c, int destinationX, int destinationY, bool d, String color)
{
if (d == false)
{
return;
}
bool isNull = three_filled(a, b, c);
if (isNull == false)
{
//not all are filled
//wait
return;
}
else
{
//math stuff
double distance_to_biggest;
double distance_to_middle;
double distance_to_smallest;
distance_to_biggest = System.Math.Sqrt(System.Math.Pow((c.xCoord - destinationX), 2.0) + System.Math.Pow((c.yCoord - destinationY), 2.0));
distance_to_middle = System.Math.Sqrt(System.Math.Pow((b.xCoord - destinationX), 2.0) + System.Math.Pow((b.yCoord - destinationY), 2.0));
distance_to_smallest = System.Math.Sqrt(System.Math.Pow((a.xCoord - destinationX), 2.0) + System.Math.Pow((a.yCoord - destinationY), 2.0));
if (positiveResult(distance_to_biggest, distance_to_middle) < 20 && positiveResult(distance_to_biggest, distance_to_smallest) < 20)
{
if (color == "blue")
{
Bluedone = true;
}
else if (color == "red")
{
Reddone = true;
}
else if (color == "black")
{
Blackdone = true;
}
//at the destination
//stop
}
if (positiveResult(distance_to_middle, distance_to_smallest) < 25)
{
if (distance_to_smallest < distance_to_biggest)
{
Console.WriteLine("go forward");
csclient.StartClient(color, "f");
//go forward
}
else
{
Console.WriteLine("long turn");
csclient.StartClient(color, "a");
//long turn
}
}
else
{
if (distance_to_middle < distance_to_smallest)
{
Console.WriteLine("turn towards middle");
csclient.StartClient(color, "r");
//turn towards middle
}
else if (distance_to_smallest < distance_to_middle)
{
Console.WriteLine("turn towards smallest");
csclient.StartClient(color, "l");
//turn towards smallest
}
}
}
reInit(a, b, c);
return;
}