time = (
p.xLimit * p.yLimit
) * .25 #time unit for this algorithm. If needed, comment this and uncomment the next to test different times
#time=500
visitedCoordinates = [
] #Holds the coordinates we have already been to so we dont go over them more than once.
wallCoordinates = [
] #Holds the coordinates of the walls. Not counting the outer walls.
traverse = [
] #traverse holds the coordinates to help manuever around walls
wallFound = False #Holds whether or not we have run into a wall.
found = False #If the location is found, we will make this true.
while count <= time:
if found != True:
wallFound = False
visitedCoordinates = [robot.GetLocation()]
if algorithmChoice == 5:
currentEndpoint = bestCrop
elif algorithmChoice == 1:
currentEndpoint = highestPercentLocation
prevCoord = (
0, 0) #Holds previous coordinate in order to check for
while robot.GetLocation(
) != currentEndpoint and count <= time: #move the robot until you hit the location or time runs out
if prevCoord == robot.GetLocation():
visitedCoordinates = [robot.GetLocation()]
prevCoord = robot.GetLocation()
p.UpdatePlot() #Update the plot
#The following if statements check for walls in each direction and determines if it has been visited or not.
#This will determine which direction the robot will move until it hits a wall.
