var goal;

var car;

var ball;

var fr = 12;

var runonce = false;

var count = 0;

var win = false;

var comm = [];

var auto = false;

var errorcount=0;

var txt="";

var success=0;

var board=[];      // An Array of Cells for the board;

var sch;

var blind=false;

var dCar;

​

​

function setup() {

  createCanvas(600, 600);

  dCar= new VCar();      // Create virtual car to track ourself

​

  frameRate(fr);

  createP("Instructions: pick up the red ball and drop it on the green circle. <br>COMMANDS: <br>0: DoNothing<br>1: MoveFwd<br>2: MoveBack<br>3: TurnRight<br>4: TurnLeft<br>5: OpenClaw<br> 6: CloseClaw<br>Input a list of commands and click execute");

  input = createInput();

  //input.position(width / 2, height - 50);

​

  //button = createButton('execute');

  //button.position(input.x + input.width + 2, height - 50);

  //button.mousePressed(exec);

  // Create Search class for search results

  sch= new Search();

  //Create the board of unchecked cells

  for(var i=0; i<width/cellsize; i++)

  {

  for(j=0; j<height/cellsize; j++)

  {

  board.push(new Cell(i, j, cellsize));  

  }

  }

  renew();

​

  // ball.picked=true;

}

​

function mouseClicked()

{

//blind=!blind;  

}

​

function draw() {

  if((car.row>=0) &&(car.row<=height/cellsize-1) && (car.col>=0) && (car.col<=width/cellsize-1))

  {

  board[ind(car.row, car.col)].checked=true;

  if(car.row==ball.row && car.col==ball.col)

    {

    ball.checked=true;

    }

  if(car.row==goal.row && car.col==goal.col)

      {

        goal.checked=true;

        }

  }

  showBoard();

  if(!blind)

  {

  goal.show();

  car.show();

  }

  fill(255);

  stroke(255);

  textSize(20);

  text("Score: " + success, 10,20);

  text("Last Search: F: " + sch.F + " R: " + sch.R + " B: " + sch.B + " L: " + sch.L, 10,40);

 text("POS: " + dCar.col + "," + dCar.row, 10,60); 

  text("Ball: " + dCar.ballPos.x + "," + dCar.ballPos.y, 10,80);

  text("Goal: " + dCar.goalPos.x + "," + dCar.goalPos.y, 10,100); 

  // ball.show();

stroke(0)

​

  // Handle ball if "picked"

  //ball.picked=false;

  if (ball.picked) {

    switch (car.dir) {

      case 0:

        ball.col = car.col;

        ball.row = car.row + 1;

        break;

      case 1:

        ball.col = car.col - 1;

        ball.row = car.row;

        break;

      case 2:

        ball.col = car.col;

        ball.row = car.row - 1;

        break;

      case 3:

        ball.col = car.col + 1;

        ball.row = car.row;

        break;

​

    }

  }

  if(!blind)

  {

  ball.show();

  }

  if (runonce) {

    count++;

    if (count >= 0) {

      win = false;

      runonce = false;

      success++;

      auto=false;

      renew();

    }

  }

​

  execute();

  darkCar();

​

  if (win) {

    runonce = true;

    //ball.col = -1;

  }

​

​

  //car.row++;

}

​

​

​

​

function showBoard() {

  background(100, 100, 100);

  strokeWeight(0.10);

  for (var i = 0; i < width / cellsize; i++) {

    stroke(255);

    line(0, i * cellsize, width, i * cellsize);

    line(i * cellsize, 1, i * cellsize, height);

    noFill();

    rect(1, 1, width - 2, height - 2);

  }

  if(!blind)

  {

  for (i=0; i<board.length;i++)

  {

  board[i].show(); 

  }

  }

  strokeWeight(1);

​

}

​

​

function keyPressed()

{

switch (keyCode){

   case 52:     // LEFT

 turnLeft(); 

  break;

  case 51:     // RIGHT

  turnRight();

  break;

  case 49:    // UP (FWD)

  moveFwd();

  break;

   case 50:    // DOWN (BACK)

  moveBack();  

  break;

  case 53:      // OPEN CLAW

  openClaw();

    break;

  case 54:     // CLOSE CLAW

  closeClaw();

    break;

    case 55:  // CHECK

    check()

    break;

    case 66:

    blind=!blind;

    break;

​

};

​

//console.log(keyCode);

}

​

​

function doNothing() {}

​

function moveFwd() {

  switch (car.dir) {

    case 0:

      car.row++;

      break;

    case 1:

      car.col--;

      break;

    case 2:

      car.row--;

      break;

    case 3:

      car.col++;

      break;

  }

}

​

function moveBack() {

  switch (car.dir) {

    case 0:

      car.row--;

      break;

    case 1:

      car.col++;

      break;

    case 2:

      car.row++;

      break;

    case 3:

      car.col--;

      break;

  }

}

​

​

function turnRight() {

  if (car.dir < 3) {

    car.dir++;

  } else {

    car.dir = 0;

  }

}

​

function turnLeft() {

  if (car.dir > 0) {

    car.dir--;

  } else {

    car.dir = 3;

  }

}

​

​

function openClaw() {

  car.claw = true;

  ball.picked = false;

​

  if (ball.col == goal.col && ball.row == goal.row) {

    win = true;

  }

​

​

​

}

​

function closeClaw() {

  if (car.claw) {

    car.claw = false;

    switch (car.dir) {

      case 0:

        if (ball.col == car.col && ball.row == car.row + 1)

          ball.picked = true;

        break;

      case 1:

        if (ball.col == car.col - 1 && ball.row == car.row)

          ball.picked = true;

        break;

      case 2:

        if (ball.col == car.col && ball.row == car.row - 1)

          ball.picked = true;

        break;

      case 3:

        if (ball.col == car.col + 1 && ball.row == car.row)

          ball.picked = true;

        break;

    }

​

  }

​

​

​

}

​

function check() {

​

var crow=car.row;

var ccol=car.col;

//if((crow) && (ccol))

{

if(car.claw)

{

//console.log(crow, ccol);

// Set all directions to "E"

// (If a ball, wall, or goal is found, that direction will be set later)"

sch.F="E";

sch.R="E";

sch.B="E";

sch.L="E";  

// ALL Middle spots away from edges  

if((crow<(height/cellsize)-1) && (crow>0) && (ccol<(width/cellsize)-1) && (ccol>0))

{

//console.log("MIDDLE");

board[ind(crow+1, ccol)].checked=true;

board[ind(crow-1, ccol)].checked=true;

board[ind(crow, ccol+1)].checked=true;

board[ind(crow, ccol-1)].checked=true;

board[ind(crow, ccol)].checked=true;  

}

​

// Working On EDGE Cases    

// Right Edge

else if ((ccol==(width/cellsize)-1) && (crow<(height/cellsize)-1) && (crow>0))

{

//  console.log("RIGHT EDGE");

board[ind(crow-1, ccol)].checked=true;

board[ind(crow+1, ccol)].checked=true;

board[ind(crow, ccol-1)].checked=true;

// Set the right side to wall (even if we aren't facing right, when we offset, it will set the correct search direction to Wall  

sch.R="W";  

​

}

​

// Bottom Edge

else if((crow==(height/cellsize)-1) && (ccol<(width/cellsize)-1) && ccol>0)

{

// console.log("BOTTOM EDGE"); 

board[ind(crow, ccol-1)].checked=true;

board[ind(crow, ccol+1)].checked=true;

board[ind(crow-1, ccol)].checked=true; 

​

sch.B="W";  

}

// Top Edge

else if((crow==0) && (ccol>0) && (ccol<(width/cellsize)-1))

{

//console.log("TOP  EDGE");

board[ind(crow+1, ccol)].checked=true;

board[ind(crow, ccol+1)].checked=true;

board[ind(crow, ccol-1)].checked=true; 

sch.F="W";  

}

// Left Edge

else if ((ccol==0) && (crow>0) && (crow<(height/cellsize)-1))

{

//console.log("LEFT EDGE");

board[ind(crow-1, ccol)].checked=true;

board[ind(crow+1, ccol)].checked=true;

board[ind(crow, ccol+1)].checked=true;  

sch.L="W";

}

// Top left Corner

else if((crow==0) && (ccol==0))

{

//console.log("TOP LEFT CORNER");

board[ind(crow+1, ccol)].checked=true;

board[ind(crow, ccol+1)].checked=true;

​

sch.L="W";

sch.F="W";

}

// Top right Corner

else if((crow==0) && (ccol==width/cellsize-1))

{

//console.log("TOP RIGHT CORNER");

board[ind(crow+1, ccol)].checked=true;

board[ind(crow, ccol-1)].checked=true;

sch.R="W";

sch.F="W";

}

// Bottom Left Corner

else if((crow==(height/cellsize)-1) && (ccol==0))

{

//console.log("BOTTOM LEFT CORNER");

board[ind(crow-1, ccol)].checked=true;

board[ind(crow, ccol+1)].checked=true; 

sch.L="W";

sch.B="W";

}

// Bottom Right Corner

else if((crow==(height/cellsize)-1) && (ccol==(width/cellsize)-1))

{

//console.log("BOTTOM RIGHT CORNER");

board[ind(crow-1, ccol)].checked=true;

board[ind(crow, ccol-1)].checked=true;

sch.R="W";

sch.B="W";

}

// If search reveals a ball, set search results

if((abs(ball.row-crow)<=1) && (abs(ball.col-ccol)==0) || ((abs(ball.row-crow)==0) && (abs(ball.col-ccol)<=1)))

{

ball.checked=true;  

if(crow-1==ball.row)

        {

        sch.F="B";

        }

else if(ccol+1==ball.col)

        {

        sch.R="B";  

        }

else if(crow+1==ball.row)

        {

        sch.B="B";

        }

else if(ccol -1==ball.col)

        {

        sch.L="B"; 

        }

}

if((abs(goal.row-crow)<=1) && (abs(goal.col-ccol)==0) || ((abs(goal.row-crow)==0) && (abs(goal.col-ccol)<=1)))

{

goal.checked=true;  

if(crow-1==goal.row)

        {

        sch.F="G";

        }

else if(ccol+1==goal.col)

        {

        sch.R="G";  

        }

else if(crow+1==goal.row)

        {

        sch.B="G";

        }

else if(ccol -1==goal.col)

        {

        sch.L="G"; 

        }

}  

// Offset the search results based off of directino we are facing. 

switch(car.dir)

    {

      case 0:sch.offset(2);

        break;

        case 1: sch.offset(1);

        break;

        case 2:

        break;

        case 3: sch.offset(3);

        break;

    }

//console.log(sch);

}

else

{

sch.F=sch.R=sch.B=sch.L="?";  

}

}

}

​

function ind(r, c)    // Returns Array index given a row/ col

{

var arrind=0;

arrind=r * width/cellsize + c;

return arrind;  

}

​

​

function execute() {

  if (comm.length) {

    switch (comm[0]) {

      case 0:

        doNothing();

        break;

​

      case 1:

        moveFwd();

        break;

​

​

      case 2:

        moveBack();

        break;

​

​

      case 3:

        turnRight();

        break;

​

​

      case 4:

        turnLeft();

        break;

​

​

      case 5:

        openClaw();

        break;

​

​

      case 6:

        closeClaw();

        break;

​

      case 7:

        check();

        break;

    };

    comm.splice(0, 1);

  }

if(auto)

{

tesla();   

}

/*else

{

if((ball.row != goal.row) || (ball.col!=goal.col))

     {

    console.log("ERROR " + errorcount);

    console.log("Startball: " + startball.row, startball.col);

    console.log("Startcar: " + startcar.row, startcar.col);

    console.log("Goal: " + goal.row, goal.col);

    console.log("Command:" + txt); 

    errorcount++;

       if(auto){

    tesla();

       }

    if(errorcount>=10)

    {

    console.log("ERROR LIMIT REACHED");

    noLoop();  

    }

    //renew();

     }

}

*/

​

​

​

}

​

function exec() // Load the data from input to comm

{

  //comm=input.value();

  //console.log("HERE");

  //console.log(input.value());

  //comm="TEST";

  //console.log(comm.length); 

​

  temp = (input.value());

  //console.log(temp.length);

  for (var i = 0; i < temp.length; i++) {

    comm.push(int(temp[i]));

  }

​

}

​

​

function tesla() // Have the computer generate the commands at the 

{

  // console.log("TESLA"); 

  var dsire = car.dir;

  var turns = 0;

  //var txt = "";

  var virdir = car.dir;

  var virrow = car.row;

  var vircol = car.col;

​

​

if((virrow==ball.row) && (vircol==ball.col))

{

comm.push(2);

switch(virdir)

  {

  case 0: virrow--;

  break;

  case 1: vircol++;

  break;

  case 2: virrow++;

  break;

  case 3: vircol--;

    break;  

    }

}

  // Align car to same Row as ball

  if (virrow != ball.row) 

  {

    if (virrow - ball.row <0)

    {

      dsire = 0;

    }

  else if(virrow-ball.row>0)

  {

  dsire=2;  

  }

  if(virdir!=dsire)

  {

  if(virdir==1)

      {

      switch(dsire)

      {

        case 2: turns=1;    

        break;

        case 0: turns=3;

        break;  

      }

      }

  else if(virdir==3)

    {

      switch(dsire)

      {

        case 2: turns=3;    

        break;

        case 0: turns=1;

        break;  

      }

    }

    else

    {

    turns=2; 

    }

    virdir=dsire;

  }

// Add commands to turn toward desired direction

    for(var i=0; i<turns; i++)

    {

    comm.push(3);  

    }

// Add Commands to move forward until row matches

    for(var i=0; i<abs(virrow-ball.row); i++)

    {

    comm.push(1);  

    }

    if(vircol==ball.col)

    {

    comm.pop(); 

    }

​

virrow=ball.row

​

  } // End of ROW calculations

​

​

if(vircol!=ball.col)

  {

  if (vircol - ball.col <0)

    {

      dsire = 3;

    }

  else if(vircol-ball.col>0)

  {

  dsire=1;  

  }

  if(virdir!=dsire)

  {

  if(virdir==0)

      {

      switch(dsire)

      {

        case 1: turns=1;    

        break;

        case 3: turns=3;

        break;  

      }

      }

  else if(virdir==2)

    {

      switch(dsire)

      {

        case 1: turns=3;    

        break;

        case 3: turns=1;

        break;  

      }

    }

    else

    {

    turns=2; 

    }

    virdir=dsire;

  }

// Add commands to turn toward desired direction

    for(var i=0; i<turns; i++)

    {

    comm.push(3);  

    }

// Add Commands to move forward until row matches

    for(var i=0; i<abs(vircol-ball.col); i++)

    {

    comm.push(1);  

    }

    if(virrow==ball.row)

    {

    comm.pop(); 

    }

//vircol=ball.col;

switch(virdir)

 {

      case 1: vircol=ball.col-1;

        break;

      case 3: vircol=ball.col+1;

        break;

​

    }   

}// End of COL Calculations

else

{

vircol=ball.col; 

}

// GRAB THE BALL

comm.push(5,6)

  turns=0;

​

// Take the ball to the goal. This should essential be the same algorithm going after the goal instead of the ball. (Famous last words). 

// Update Car col/row to updated location. 

switch(virdir)

{

  case 0:  vircol=ball.col;

            virrow=ball.row-1;

    break;

  case 1: vircol=ball.col+1;

          virrow=ball.row;

    break;

    case 2: vircol=ball.col;

            virrow=ball.row+1;

    break;

    case 3: vircol=ball.col-1;

            cirrow=ball.row;

   break; 

}

  if((virrow==goal.row) && (vircol==goal.col))

  {

  comm.push(2);  

  }  

    if (virrow != goal.row) 

  {

    if (virrow - goal.row <0)

    {

      dsire = 0;

    }

  else if(virrow-goal.row>0)

  {

  dsire=2;  

  }

  if(virdir!=dsire)

  {

  if(virdir==1)

      {

      switch(dsire)

      {

        case 2: turns=1;    

        break;

        case 0: turns=3;

        break;  

      }

      }

  else if(virdir==3)

    {

      switch(dsire)

      {

        case 2: turns=3;    

        break;

        case 0: turns=1;

        break;  

      }

    }

    else

    {

    turns=2; 

    }

    virdir=dsire;

  }

// Add commands to turn toward desired direction

    for(var i=0; i<turns; i++)

    {

    comm.push(3);  

    }

// Add Commands to move forward until row matches

    for(var i=0; i<abs(virrow-goal.row); i++)

    {

    comm.push(1);  

    }

    if(vircol==goal.col)

    {

    comm.pop(); 

    }

  }

virrow=goal.row

​

if(vircol!=goal.col)

  {

  if (vircol - goal.col <0)

    {

      dsire = 3;

    }

  else if(vircol-goal.col>0)

  {

  dsire=1;  

  }

  if(virdir!=dsire)

  {

  if(virdir==0)

      {

      switch(dsire)

      {

        case 1: turns=1;    

        break;

        case 3: turns=3;

        break;  

      }

      }

  else if(virdir==2)

    {

      switch(dsire)

      {

        case 1: turns=3;    

        break;

        case 3: turns=1;

        break;  

      }

    }

    else

    {

    turns=2; 

    }

    virdir=dsire;

  }

// Add commands to turn toward desired direction

    for(var i=0; i<turns; i++)

    {

    comm.push(3);  

    }

// Add Commands to move forward until row matches

    for(var i=0; i<abs(vircol-goal.col); i++)

    {

    comm.push(1);  

    }

    if(virrow==goal.row)

    {

    comm.pop(); 

    }

//vircol=ball.col;

switch(virdir)

 {

      case 1: vircol=goal.col-1;

        break;

      case 3: vircol=goal.col+1;

        break;

​

    }   

}// End of COL Calculations

​

  //Open Claw

  comm.push(5);

    for (var i = 0; i < comm.length; i++) {

    txt = txt + comm[i];

  }

​

  input.value((txt));

}

​

function darkCar()

{

//console.log("DarkCar");  

if(!dCar.startSearch)

{

//console.log("notstartingsearch");

if(!dCar.claw)

{

openClaw(); 

dCar.claw=true;

}

if(sch.F="?");

{

check();  

}

// Move to the corner first  

if(sch.F!="W")

    {

    moveFwd();

    check();

    }

else

{

turnRight(); 

  check();

}

if(sch.B=="W" && sch.L=="W")

  {

  dCar.startSearch=true;

  dCar.lastCommand="R";

  } 

}

// If we haven't found both the goal and the ball, continue searching.   

​

​

else if((!dCar.goalPos.z) || (!dCar.ballPos.z)) 

{

// Always process a check

  check();

if(!dCar.ballPos.z)

{

if((sch.F=="B") || (sch.B=="B") || (sch.L=="B") ||( sch.R=="B"))

      {

      dCar.ballPos.z=1;     // Set flag to true for ball found. 

      switch(dCar.dir)

      {

        case 0:

          if(sch.F=="B")

          {

          dCar.ballPos.x=dCar.col;

          dCar.ballPos.y=dCar.row+1;

          }

          else if (sch.B=="B")

          {

          dCar.ballPos.x=dCar.col;

          dCar.ballPos.y=dCar.row-1;             

          }

          else if (sch.L=="B")