Author Topic: Micromouse Code  (Read 8876 times)

0 Members and 1 Guest are viewing this topic.

Offline harisankarsaTopic starter

  • Jr. Member
  • **
  • Posts: 23
  • Helpful? 0
Micromouse Code
« on: March 30, 2008, 07:35:39 AM »
Can anyone pls help me????
I have been trying to implement the floodfill algo in my micromouse and it just isnt working right.... ???
can u pls give me a sample code so tht i can know how to do it correctly.....

Offline hazzer123

  • Supreme Robot
  • *****
  • Posts: 460
  • Helpful? 3
Re: Micromouse Code
« Reply #1 on: March 30, 2008, 08:43:43 AM »
For my micromouse i store the wall information in a 16x16 array of integers. The LSB of each integer is the south wall of a cell, and the 2nd bit is the east wall of a cell. 1 means the wall exists...

So if i want to check if there is a wall to the west of cell A, then i have to look at the cell west of cell A and see if it has a wall east of it.

My MATLAB algorithm ( very similar to C ) goes like this :

Code: [Select]

flooded = zeros(16,16);     %Create an array of 0s to store the flood values

flooded(mouse_y, mouse_x) = 1;  %Give the mouse's current position a flood value of 1

while 1                         %Loop until break command

    for x = 1:16                %Scan across the grid
        for y = 1:16

                    %Check if current cell already has a flood value.   
                    %If it does then move on.

            if flooded(y,x) > 0
                continue
            end
                    %Check the cell North of the current cell

            if y-1 > 0                                      %If the cell exists...
                if flooded(y-1,x) > 0                       %If the cell is flooded...
                    if bitand(maze(y-1,x),1) == 0           %If there is no wall between them...
                        flooded(y,x) = flooded(y-1,x) + 1;  %Then give the current cell a flood value 1 higher than the north cell.
                        continue;                           %Move onto the next cell
                    end
                end
            end

                    %Check South

            if y+1 < 17
                if flooded(y+1,x) > 0
                    if bitand(maze(y,x),1) == 0
                        flooded(y,x) = flooded(y+1,x) + 1;
                        continue;
                    end
                end
            end

                    %Check West

            if x-1 > 0
                if flooded(y,x-1) > 0
                    if bitand(maze(y,x-1),2) == 0
                        flooded(y,x) = flooded(y,x-1) + 1;
                        continue;
                    end
                end
            end

                    %Check East

            if x+1 < 17
                if flooded(y,x+1) > 0
                    if bitand(maze(y,x),2) == 0
                        flooded(y,x) = flooded(y,x+1) + 1;
                        continue;
                    end
                end
            end

        end
    end

    if flooded(target_y, target_x) > 0   %If there is a flood value in the target cell, then enough flooding has occurred for a route to be planned.
        break
    end
   
end


I know my coding isn't the most legible, so if you have any problems... just ask :)
Imperial College Robotics Society
www.icrobotics.co.uk

Offline Admin

  • Administrator
  • Supreme Robot
  • *****
  • Posts: 11,702
  • Helpful? 173
    • Society of Robots

 


Get Your Ad Here