def path_finder_s(robot_name):
global final_dest
x_pos, y_pos = robot.world.get_position()
edge_found = False
flag, output = robot.do_right_turn(robot_name)
print(output)
flag, output = robot.do_right_turn(robot_name)
print(output)
while edge_found is False:
s_wall_x, s_wall_y = find_s_wall()
#print(f"{s_wall_x}, {s_wall_y} somewhere 1")
move_to_wall_s(s_wall_x, s_wall_y, robot_name)
# print("somewhere 2")
x_pos, y_pos = robot.world.get_position()
if y_pos == -200:
print("edgeZN")
edge_found = True
break
# print(f"s_wall_y{s_wall_y}")
door_x = find_door_s(s_wall_y)
move_to_door_s(door_x, robot_name)
#
x_pos, y_pos = robot.world.get_position()
#print("end of loop")
return "Zen"
def move_to_door_e(y_door, robot_name):
x_pos, y_pos = robot.world.get_position()
if y_pos < y_door:
# move up
flag, output = robot.do_left_turn(robot_name)
print(output)
steps = y_door - y_pos + 2
flag, output = robot.do_forward(robot_name, steps)
print(output)
print(robot.world.show_position(robot_name))
flag, output = robot.do_right_turn(robot_name)
print(output)
elif y_pos > y_door:
# move down
flag, output = robot.do_right_turn(robot_name)
print(output)
steps = y_pos - y_door
flag, output = robot.do_forward(robot_name, steps)
print(output)
print(robot.world.show_position(robot_name))
flag, output = robot.do_left_turn(robot_name)
print(output)
elif y_pos == y_door:
if robot.obstacles.is_position_blocked(x_pos + 1, y_pos+1) is False:
# move right 1 unit.
flag, output = robot.do_right_turn(robot_name)
print(output)
flag, output = robot.do_forward(robot_name, 1)
print(output)
print(robot.world.show_position(robot_name))
flag, output = robot.do_left_turn(robot_name)
print(output)
elif robot.obstacles.is_position_blocked(x_pos - 1, y_pos + 1) is False:
# move left
flag, output = robot.do_left_turn(robot_name)
print(output)
flag, output = robot.do_forward(robot_name, 1)
print(output)
print(robot.world.show_position(robot_name))
flag, output = robot.do_right_turn(robot_name)
print(output)
return True
def move_to_door_s(x_door, robot_name):
x_pos, y_pos = robot.world.get_position()
if x_pos < x_door:
# move right ++
flag, output = robot.do_left_turn(robot_name)
print(output)
steps = x_door - x_pos + 2
flag, output = robot.do_forward(robot_name, steps)
print(output)
print(robot.world.show_position(robot_name))
flag, output = robot.do_right_turn(robot_name)
print(output)
elif x_pos > x_door:
# move left --
flag, output = robot.do_right_turn(robot_name)
print(output)
steps = x_pos - x_door + 2
flag, output = robot.do_forward(robot_name, steps)
print(output)
print(robot.world.show_position(robot_name))
flag, output = robot.do_left_turn(robot_name)
print(output)
elif x_pos == x_door:
if robot.obstacles.is_position_blocked(x_pos + 1, y_pos+1) is False:
# move right 1 unit.
flag, output = robot.do_right_turn(robot_name)
print(output)
flag, output = robot.do_forward(robot_name, 1)
print(output)
print(robot.world.show_position(robot_name))
flag, output = robot.do_left_turn(robot_name)
print(output)
elif robot.obstacles.is_position_blocked(x_pos - 1, y_pos + 1) is False:
# move left
flag, output = robot.do_left_turn(robot_name)
print(output)
flag, output = robot.do_forward(robot_name, 1)
print(output)
print(robot.world.show_position(robot_name))
flag, output = robot.do_right_turn(robot_name)
print(output)
return True
def path_finder_e(robot_name):
global final_dest
x_pos, y_pos = robot.world.get_position()
flag, output = robot.do_right_turn(robot_name)
print(output)
edge_found = False
while edge_found is False:
e_wall_x, e_wall_y = find_e_wall()
# print("somewhere 1")
move_to_wall_e(e_wall_x, e_wall_y, robot_name)
# print("somewhere 2")
x_pos, y_pos = robot.world.get_position()
if x_pos == 100:
# print("edgeZN")
edge_found = True
break
print(f"e-wally{e_wall_x}")
door_y = find_door_e(e_wall_x)
print(f"{door_y}door-x")
# print("somewhere 3")
move_to_door_e(door_y, robot_name)
# print("somewhere 4")
x_pos, y_pos = robot.world.get_position()
#print("end of loop")
return "Zen"
def test_do_right_turn(self):
with captured_io(StringIO("right\n")):
self.assertEqual(robot.do_right_turn("HAL"),
(True, " > HAL turned right."))
def test_do_right_turn(self):
output5 = True, ' > RON turned right.'
self.assertEqual(do_right_turn("RON"), output5)
