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E Puck Wall Following Program
Pathfinding robot in a maze
Finding the shortest path outside a maze following a wall
How it works
-The robot must always begin from the left side (the left wall).
-The start line and the finish line are physically denoted by two small black tapes on the floor.
-The robot has four phases:
- Following the left wall from the start towards the finish line.
- Once arrived at the finish line, it stores the distance from the start line to the finish using left wall. It then continues its run along the same left wall.
- At the start line once again in stores the distance of the right wall.
- A last run is made following the shortest wall found towards the finish line.
Structure of the code
The code is modularized in 4 different modules that are connected through an header file with the main source as shown below
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