Navigator.h

#ifndef MICROMOUSE_NAV_H_
#define MICROMOUSE_NAV_H_

#include "data.h"
#include "driver.h"

// Everything in this file MUST be portable code.
//
// These things are NOT portable:
//   - Serial, Serial1, Serial2...
//   - printf, cin, cout, cerr...
//   - Arduino libraries
//   - Any libraries at all
//   - Anything that requires the Arduino IDE
//   - Anything that requires a PC
//   - Using the derived_driver variable
//
// The Goal: It should be easy as 1-2-3.
//   1. Copy this file to the mazesim-rewrite source tree.
//   2. Compile the program there.
//   3. Run the simulator on your Linux/Mac/Windows PC.
//
// Example usage:
//
//   Navigator<RobotDriver> navigator1;
//   navigator1.runDevelopmentCode();
//
//   Navigator<CanvasDriver> navigator2;
//   navigator2.runDevelopmentCode();
//
template <typename driver_type>
class Navigator
{
  private:
    driver_type derived_driver;
    Driver &driver;
    Maze<16, 16> maze;

  public:
    Navigator();

    void driveBox2UnitsLeftTurns();
    void driveBox2UnitsRightTurns();

    void driveCardboardMaze();

    // For development. Fill this method in with whatever you're working on.
    // This method is what will be called by mazesim-rewrite.
    void runDevelopmentCode();
};




// The methods have to be defined in this file because this is a template.




template <typename driver_type>
Navigator<driver_type>::Navigator() : derived_driver(), driver(derived_driver)
{
}

template <typename driver_type>
void Navigator<driver_type>::driveBox2UnitsLeftTurns()
{
  driver.move(kNorth, 2);
  driver.move(kWest, 2);
  driver.move(kSouth, 2);
  driver.move(kEast, 2);
  driver.move(kNorth, 0);
}

template <typename driver_type>
void Navigator<driver_type>::driveBox2UnitsRightTurns()
{
  driver.move(kNorth, 2);
  driver.move(kEast, 2);
  driver.move(kSouth, 2);
  driver.move(kWest, 2);
  driver.move(kNorth, 0);
}

template <typename driver_type>
void Navigator<driver_type>::driveCardboardMaze()
{
  driver.move(kNorth, 3);
  driver.move(kEast, 1);
  driver.move(kWest, 1);
  driver.move(kSouth, 1);
  driver.move(kEast, 2);
  driver.move(kNorth, 1);
  driver.move(kSouth, 0);
}

template <typename driver_type>
void Navigator<driver_type>::runDevelopmentCode()
{
  // For now, nod left and right to indicate we're running development code.
  driver.move(kNorthWest, 0);
  driver.move(kNorthEast, 0);
  driver.move(kNorthWest, 0);
  driver.move(kNorthEast, 0);
  driver.move(kNorth, 0);
}




#endif