/**
* Looks at the surrounding cells based on the current one to determine which ways have been tried
* already and sets the appropriate boolean values in the current cell
*
* @param currentCell -- this is the cell in the maze the robot is currently in
* @param map -- this is the array that stores the cell data of all explored cells in the maze
*/
public static void analyzeSurroundings(CellData currentCell, CellData[][] map) {
int x = currentCell.getX();
int y = currentCell.getY();
// look at the cell to the North
try {
CellData north = map[x][y + 1];
if (north == null) {
} else {
currentCell.setTriedNorth(true);
}
} catch (IndexOutOfBoundsException e) {
// exception thrown if at the edge of the maze
currentCell.setTriedNorth(true);
}
// look at the cell to the East
try {
CellData east = map[x + 1][y];
if (east == null) {
} else {
currentCell.setTriedEast(true);
}
} catch (IndexOutOfBoundsException e) {
// exception thrown if at the edge of the maze
currentCell.setTriedEast(true);
}
// look at the cell to the South
try {
CellData south = map[x][y - 1];
if (south == null) {
} else {
currentCell.setTriedSouth(true);
}
} catch (IndexOutOfBoundsException e) {
// exception thrown if at the edge of the maze
currentCell.setTriedSouth(true);
}
// look at the cell to the West
try {
CellData west = map[x - 1][y];
if (west == null) {
} else {
currentCell.setTriedWest(true);
}
} catch (IndexOutOfBoundsException e) {
// exception thrown if at the edge of the maze
currentCell.setTriedWest(true);
}
}
public static void findClosestMove(
SimRobot simRobot,
int angle,
LinkedList<CellData> moveHistory,
LinkedList<CellData> notFullyExplored) {
CellData destination = notFullyExplored.pop();
CellData currentCell = moveHistory.pop();
CellData nextMove = moveHistory.peek();
// while the robot is still making its way back to the closest open move
while ((currentCell.getX() != destination.getX())
|| (currentCell.getY() != destination.getY())) {
if (currentCell.getX() - nextMove.getX() == 0) {
// if the x values are the same then move either north or south
if (currentCell.getY() - nextMove.getY() == 1) {
moveSouth(simRobot, angle);
angle = 180;
currentCell = moveHistory.pop();
} else if (currentCell.getY() - nextMove.getY() == -1) {
moveNorth(simRobot, angle);
angle = 0;
currentCell = moveHistory.pop();
}
} else {
if (currentCell.getX() - nextMove.getX() == 1) {
moveWest(simRobot, angle);
angle = 270;
currentCell = moveHistory.pop();
} else if (currentCell.getX() - nextMove.getX() == -1) {
moveEast(simRobot, angle);
angle = 90;
currentCell = moveHistory.pop();
}
}
nextMove = moveHistory.peek();
}
// orient robot north after arrived at desired cell
if (angle == 90) {
simRobot.left90();
} else if (angle == 180) {
simRobot.left90();
simRobot.left90();
} else if (angle == 270) {
simRobot.right90();
}
}
public static void goHome(SimRobot simRobot, int angle, LinkedList<CellData> moveHistory) {
System.out.println("E.T. phone home...");
CellData destination = moveHistory.getLast();
CellData currentCell = moveHistory.pop();
CellData nextMove = moveHistory.peek();
while ((currentCell.getX() != destination.getX())
|| (currentCell.getY() != destination.getY())) {
System.out.println(
"The current cell is (" + currentCell.getX() + ", " + currentCell.getY() + ")");
System.out.println(
"The next cell should be (" + nextMove.getX() + ", " + nextMove.getY() + ")");
if ((currentCell.getX() - nextMove.getX() == 0)
&& (currentCell.getY() - nextMove.getY() == 0)) {
System.out.println("There was a duplicate");
currentCell = moveHistory.pop();
} else if (currentCell.getX() - nextMove.getX() == 0) {
// if the x values are the same then move either north or south
System.out.println("Move North or South");
if (currentCell.getY() - nextMove.getY() == 1) {
// then go south
System.out.println("Go South");
if (angle % 360 == 0) {
simRobot.right90();
simRobot.right90();
} else if (angle % 360 == 90) {
simRobot.right90();
} else if (angle % 360 == 270) {
simRobot.left90();
}
simRobot.forwardOneCell();
// reset the angle to south
angle = 180;
currentCell = moveHistory.pop();
} else {
// then go North
System.out.println("Go North");
if (angle % 360 == 90) {
simRobot.left90();
} else if (angle % 360 == 180) {
simRobot.left90();
simRobot.left90();
} else if (angle % 360 == 270) {
simRobot.right90();
}
simRobot.forwardOneCell();
// reset the angle to North
angle = 0;
currentCell = moveHistory.pop();
}
} else if (currentCell.getY() - nextMove.getY() == 0) {
System.out.println("Move East or West");
if (currentCell.getX() - nextMove.getX() == 1) {
// go west
System.out.println("Go West");
if (angle % 360 == 0) {
simRobot.left90();
} else if (angle % 360 == 90) {
simRobot.right90();
simRobot.right90();
} else if (angle % 360 == 180) {
simRobot.right90();
}
simRobot.forwardOneCell();
// reset the angle to North
angle = 270;
currentCell = moveHistory.pop();
} else {
// go East
System.out.println("Go East");
if (angle % 360 == 0) {
simRobot.right90();
} else if (angle % 360 == 180) {
simRobot.left90();
} else if (angle % 360 == 270) {
simRobot.right90();
simRobot.right90();
}
simRobot.forwardOneCell();
// reset the angle to North
angle = 90;
currentCell = moveHistory.pop();
}
}
nextMove = moveHistory.peek();
}
System.out.println("E.T. made it back successfully!");
}