/*
 * Final Project: Micro mouse, CS154 Spring 2001
 * Name         :   SooYoung Jung
 * Date         :   April, 11, 2001
 * File         :   mm.cc
 */
 
/* motor */
int RM = 0;  
int LM = 1;

/* IR sensor */
int IR_B = 0;  /* Back */
int IR_B_SEE = 100;

int IR_R = 1;  /* Right */
int IR_R_SEE = 233;

int IR_F = 2;  /* Front */
int IR_F_SEE = 145;

int IR_L = 3;  /* Left */
int IR_L_SEE = 148;

int SPEED = 90;

int DIRECTION = 0;  /* 0: N, 1: E, 2: W, 3: S */

int FOWARD = 0;
int BACKWARD = 1;

long MOVE18CM = 1000L;
long DEGREE90 = 325L;

/* 
	mazecell structure
	
	0123456789012345
	
	0  :
	1  :
	2  :
	3  :
	4  :
	5  :
	6  :
	7  :
	8  :
	9  :
	10 :
	11 :
	12 :
	13 : 
	14 : contents, 0: free, 1: wall,
	15 : Marked, 0: not visited, 1: visited
*/


/*

90 deg right turn : 5

{lego0_counts = 0; while(lego0_counts > -5) {motor(0, -100); motor(1, 100);} ao();}


18cm  : 10

{lego0_counts = 0; while(lego0_counts < 10) {motor(0, 100); motor(1, 100);} ao();}

*/

int x = 16;  /* current index, start 30 */
int y = 16;	 /* current index, start 0 */

int arraySize = 31;
int mazecell[31][31];

void main()
{
	int i, j;

	/* init cell */
		
	/* even number index maze cell is all free space
	 * and odd number index is wall or free space 
	 */
	for (i = 0; i < arraySize; i+=2)
		for (j = 0; j < arraySize; j++)
			mazecell[i][j] = 1;  
			/* 0000000000000001  all visited and free space*/

	mazecell[arraySize/2 - 1][arraySize/2] = 1;  /* Destination */
	mazecell[arraySize/2][arraySize/2 - 1] = 1;  /* Destination */
	mazecell[arraySize/2][arraySize/2 + 1] = 1;  /* Destination */
	mazecell[arraySize/2 + 1][arraySize/2] = 1;  /* Destination */
	
    start_press();

	first_run();

    ao();
}

void first_run()
{

	checkCell();
	
	printf("%d %d %d %d         %d %d %d %d \n", 
							 mazecell[x-1][y],mazecell[x][y+1],
							 mazecell[x][y-1],mazecell[x+1][y],
							 analog(IR_B), analog(IR_R),
							 analog(IR_F), analog(IR_L));
	sleep(3.0);

	move18();
	x--;

	checkCell();
	printf("%d %d %d %d         %d %d %d %d \n", 
							 mazecell[x-1][y],mazecell[x][y+1],
							 mazecell[x][y-1],mazecell[x+1][y],
							 analog(IR_B), analog(IR_R),
							 analog(IR_F), analog(IR_L));

}


void move18()
{
    motor(LM, SPEED);
    motor(RM, SPEED);
    msleep(MOVE18CM);
    ao();
}

void checkCell()
{
	/* if it is already visited, then don't do */
	
	if (analog(IR_F) < IR_F_SEE)
		mazecell[x-1][y] = 3;
	else 
		mazecell[x-1][y] = 1;
		
	if (analog(IR_R) < IR_R_SEE)
		mazecell[x][y+1] = 3;
	else 		
		mazecell[x][y+1] = 1;
		
	if (analog(IR_L) < IR_L_SEE)
		mazecell[x][y-1] = 3;
	else 		
		mazecell[x][y-1] = 1;
		
	if (analog(IR_B) < IR_B_SEE)
		mazecell[x+1][y] = 3;
	else
		mazecell[x+1][y] = 1;
}



/* 
	mazecell structure
	
	0123456789012345
	
	0  :
	1  :
	2  :
	3  :
	4  :
	5  :
	6  :
	7  :
	8  :
	9  :
	10 :
	11 :
	12 :
	13 : 
	14 : contents, 0: free, 1: wall,
	15 : Marked, 0: not visited, 1: visited
*/