| Pre-Condition: Robot ready to explore. |
| |
| Check distance sensors |
| IF distance sensors detect wall THEN |
| Determine closest wall |
| { |
| IF all sensors are analog THEN |
| Select RoverSide facing closest wall |
| ELSE |
| FOREACH RoverSides |
| Point best analog sensor towards RoverSide |
| Keep smallest distance |
| ENDFOR |
| Select RoverSide facing closest wall |
| ENDIF |
| Turn rover towards closest wall |
| Move forward until wall is found at minimal distance |
| Mark start position |
| } |
| Explore |
| { |
| Turn rover left |
| LOOP until DONE |
| IF ( Encoder) |
| start counting encoder pulses |
| Else |
| Start timer |
| ENDIF |
| LOOP WHILE |
| (NOT ( wall is found at minimal distance OR |
| wall on right moves beyond minimal distance OR |
| current position == start position)) |
| { |
| Move forward |
| { |
| ENDLOOP |
| IF wall is found at minimal distance |
| IF ( Encoder ) |
| convert pulse count into distance |
| ELSE |
| convert elapsed time into distance |
| ENDIF |
| Calculate new position from distance traveled |
| Turn Rover Left |
| Else IF wall on right moves beyond minimal distance THEN |
| Turn Rover right |
| ELSE |
| DONE |
| ENDIF |
| ENDREPEAT |
| } |
| Check if inside wall |
| { |
| IF most turns were right turn, we followed an inside wall |
| Mark map as inside wall |
| Turn rover left |
| Move forward until wall is found at minimal distance |
| Mark outside wall start position |
| DO Explore |
| ELSE we need to look for inside walls |
| Start inside wall search pattern (TBD) |
| Endif |
| } |
