public static void main(String[] args) throws InterruptedException { // Wait for bluetooth/usb connection to computer. RConsole.open(); int arenaLength = 200; int arenaWidth = 150; int cellSize = 25; // Set up the world map. // Length, width, cellHeight, cellWidth. worldMap = new WorldMap(arenaLength, arenaWidth, cellSize, cellSize); // Set up the robot and pass it the world map. robot = new Robot(worldMap); // Wait to start System.out.println("Press any button to start"); Button.waitForAnyPress(); Output.clear(); BumperMonitor bm = new BumperMonitor(robot); bm.start(); // Main robot loop. // Keeps going till fully explored. while (!robot.getMap().fullyExplored()) { if (!Robot.takecontrol) { // Print the map before every movement. Output.printMapLCD(robot); // Check for obstacles to the left, right and front of robot. robot.checkSurroundings(); // Choose a direction to move in. Robot.Direction directionChosen = robot.chooseACell(); // Turn in the chosen direction. robot.turnRobotToFace(directionChosen); // Move forwards. robot.moveForwards(); } } // Print out the finished world map. Output.println("Final world map"); Output.printMapLCD(robot); /* Wait before ending. This is done because the world map kept not being printed correctly for some reason and this fixes it. */ RConsole.println("\nPress any button to end."); Button.waitForAnyPress(); RConsole.close(); }