Builders guide robot pacman.pdf

}queue_count = 0, queue_index = 0, curr_cell_dist = 0;int point_to_cell_number( signed int x, signed int y ){int pos_y;int pos_x;pos_y = y;pos_x = x;if (x > 5)pos_x = 5;else if (x < 0)pos_x = 0;if (y > 5)pos_y = 5;else if (y < 0)pos_y = 0;}return (pos_y*NUM_X_CELLS) + pos_x;void read_obstacles( int &left, int &front, int &right ){// turn on sensor LEDsoutput_bit(SENSOR_LED, 1);delay_ms(SENSOR_VALID_DELAY);set_adc_channel( OBSTACLE_LEFT );delay_us(10);left = read_adc();set_adc_channel( OBSTACLE_FRONT );delay_us(10);front = read_adc();set_adc_channel( OBSTACLE_RIGHT );delay_us(10);right = read_adc();}// turn off sensor LEDsoutput_bit(SENSOR_LED, 0);void read_beacon( int &front, int &left, int &back, int &right ){set_adc_channel( BEACON_FRONT );delay_us(10);front = read_adc();set_adc_channel( BEACON_LEFT );delay_us(10);left = read_adc();set_adc_channel( BEACON_BACK );delay_us(10);back = read_adc();}set_adc_channel( BEACON_RIGHT );delay_us(10);right = read_adc();void go_forward(){cell_step_counter = 0;stop = 0;next_move_ready = 0;turn_enable = 0;turn_180 = 0;turn_counter = 0;}output_bit(L_WHEEL_DIR, L_FORWARD);output_bit(R_WHEEL_DIR, R_FORWARD);void turn_right(){cell_step_counter = 0;stop = 0;next_move_ready = 0;turn_enable = 1;turn_180 = 0;turn_counter = 0;}output_bit(L_WHEEL_DIR, L_FORWARD);output_bit(R_WHEEL_DIR, R_BACKWARD);void turn_left(){cell_step_counter = 0;stop = 0;