// method runs when robot is in a dead end and has to back up and go around
public static void turnAround(boolean r, MapSystem ms, Movement mv) {
mv.turn(ms); // 180 degree turn
movRow(); // move forward
// check for empty adjacent space
boolean[] scanResults = new boolean[3];
scanResults = mapObj.scanAll();
// Move to said empty space
if (scanResults[0] && !scanResults[2]) { // Obstacle on the Left
mv.turn(scanResults[0], ms); // turn right
movRow();
} else { // Obstacle on the Right
mv.turn(!scanResults[2], ms); // turn left
movRow();
mv.turn(!scanResults[2], ms);
movRow();
// move forward 2 cells, scanning as we go
// if an obstacle is still on the same axis as the first
// class it as a different obstacle
// move forward a cell
// scan again - recursive
// move back to the correct column
// if at a 'limit cell', turn left instead of right
}
}
// Method to move around an obstacle - runs when obstacle is in front
public static void movAround(boolean r, MapSystem ms, Movement mv) {
mv.turn(r, ms); // true = right turn; false = left turn
movRow(); // scan and move forward if necessary
mv.turn(!r, ms); // invert the boolean to turn the other way
// move forward twice to pass the obstacle
movRow();
++loop2;
movRow();
++loop2;
mv.turn(!r, ms); // turn to face original column
boolean extend = mapObj.scanAhead(); // flag to check object is passed
while (extend) {
mv.turn(r, ms); // turn to move along the axis
movObj.nextCell(mapObj);
++loop2;
mv.turn(!r, ms); // face the original column
if (!mapObj.scanAhead()) { // if an obstacle is not found anymore
extend = false; // break the while loop
} else {
}
}
movRow(); // move into the original column
mv.turn(r, ms); // face the correct way to continue the patrol
}
// Method to shift columns (X Axis)
public static void movCol(boolean b) {
movObj.turn(b, mapObj); // rotate 90 degrees - true = right; false = left
movRow(); // move forward a cell
movObj.turn(b, mapObj); // rotate 90 degrees - true = right; false = left
}