私は、boe-bot というロボットを使ったプロジェクトに取り組んでいます。
私の目標は、迷路を 2 回通過することです。最初の実行で、私のボーイボットは迷路を横切り、たどった経路をメモリに保存します。2 回目の実行では、すべてのパスがメモリに保存され、行き止まりにつながる不適切なパスが削除されます。これにより、boe-bot は迷路の終わりまでの最短パスをたどることができます。
これを行うには、行き止まりにつながる不適切なルートを解析する置換ルールを作成する必要があります。
pbasic でコードを作成しましたが、コードでエラーが発生します。これを手伝ってくれる人はいますか？
' {$STAMP BS2}
' {$PBASIC 2.5}
' -----[ Variables ]----------------------------------------------------------
turn VAR Word
turns VAR Word
pointer VAR Byte
ptr VAR pointer 'create an alias for pointer
' -----[ Main Routine ]-------------------------------------------------------
DO ' Begin main routine
ptr = 0 'Points TO the NEXT available position in the array.
turns(ptr) = turn 'This puts an L in the first position of the array or left turn in array
ptr = ptr + 1 'Add one TO the pointer so the NEXT letter goes in the NEXT position in the array.
IF (turns < 3)THEN 'Array needs at least three characters for this algorithm to work
RETURN
IF (turns(3)(ptr) - 1 <> "U")THEN 'EXIT IF the NEXT-TO-last turn is NOT a U-Turn
RETURN
IF (turns(3) = "LUL") 'Look at the right three characters in the array Left U-Turn Left
ptr = ptr - 3 'shorten the array by 3 characters. We'll "chop off" the LUL and replace with S
turns(ptr) = "S" 'The turn we should have taken (AND will take NEXT time.
ptr = ptr + 1 'set up the pointer TO point TO the NEXT character in the array.
IF (turns(3) == "LUR") 'Look at the right three characters in the array Left U-Turn Right
ptr = ptr - 3 'shorten the array by 3 characters. We'll "chop off" the LUL and replace with S
turns(ptr) = "U" 'The turn we should have taken (AND will take NEXT time.
ptr = ptr + 1 'set up the pointer TO point TO the NEXT character in the array.
IF (turns(3) == "LUS") 'Look at the right three characters in the array Left U-turn Straight
ptr = ptr - 3 'shorten the array by 3 characters. We'll "chop off" the LUL and replace with S
turns(ptr) = "R" 'The turn we should have taken (AND will take NEXT time.
ptr = ptr + 1 'set up the pointer TO point TO the NEXT character in the array.
' Increment/decrement routine only changes pulse durations by 2 at a time.
IF (turns(3) == "RUL") 'Look at the right three characters in the array Right U-turn Left
ptr = ptr - 3 'shorten the array by 3 characters. We'll "chop off" the LUL and replace with S
turns(ptr) = "U" 'The turn we should have taken (AND will take NEXT time.
ptr = ptr + 1 'set up the pointer TO point TO the NEXT character in the array.
IF (turns(3) == "RUR") 'Look at the right three characters in the array Right U-turn Right
ptr = ptr - 3 'shorten the array by 3 characters. We'll "chop off" the LUL and replace with S
turns(ptr) = "L" 'The turn we should have taken (AND will take NEXT time.
ptr = ptr + 1 'set up the pointer TO point TO the NEXT character in the array.
IF (turns(3) == "RUS") 'Look at the right three characters in the array Right U-turn Straight
ptr = ptr - 3 'shorten the array by 3 characters. We'll "chop off" the LUL and replace with S
turns(ptr) = "L" 'The turn we should have taken (AND will take NEXT time.
ptr = ptr + 1 'set up the pointer to point to the NEXT character in the array.
IF (turns(3) == "SUL") 'Look at the right three characters in the array Straight U-turn Left
ptr = ptr - 3 'shorten the array by 3 characters. We'll "chop off" the LUL and replace with S
turns(ptr) = "R" 'The turn we should have taken (AND will take NEXT time.
ptr = ptr + 1 'set up the pointer TO point TO the NEXT character in the array.
IF (turns(3) == "SUR") 'Look at the right three characters in the array Straight U-turn Right
pointer = pointer - 3 'shorten the array by 3 characters. We'll "chop off" the LUL and replace with S
turns(pointer) = "L" 'The turn we should have taken (AND will take NEXT time.
pointer = pointer + 1 'set up the pointer TO point TO the NEXT character in the array.
IF (turns(3) == "SUS") 'Look at the right three characters in the array Straight U-turn Straight
pointer = pointer - 3 'shorten the array by 3 characters. We'll "chop off" the LUL and replace with S
turns(pointer) = "U" 'The turn we should have taken (AND will take NEXT time.
pointer = pointer + 1 'set up the pointer TO point TO the NEXT character in the array.