Builders guide robot pacman.pdf

{// Look for Pac-Man's beacon signalread_beacon( beacon_f, beacon_l, beacon_b, beacon_r );if (beacon_minval(beacon_f, beacon_l, beacon_b, beacon_r) > FAR)pacpos_unknown = 1;estimate_Pac-Man(Pac-Man_pos_x, Pac-Man_pos_y, beacon_f, beacon_b, beacon_l, beacon_r);solve(Pac-Man_pos_x, Pac-Man_pos_y);next_move = read_bank(3, 0);for ( i = 0; next_move != 0; i++ ){if (pacpos_unknown){read_beacon( beacon_f, beacon_l, beacon_b, beacon_r );if (beacon_minval(beacon_f, beacon_l, beacon_b, beacon_r) < FAR)break;}next_move = read_bank(3, i);if (next_move == NORTH){current_y_pos--;move( N );}else if (next_move == EAST){current_x_pos++;move( E );}else if (next_move == SOUTH){current_y_pos++;move( S );}else if (next_move == WEST){current_x_pos--;move( W );}while loop)while (!next_move_ready) // while not ready, adjust position (make all below inside the{read_obstacles( ob_left, ob_front, ob_right );if (ob_front > FRONT_OBSTACLE){stop = 1;}elsestop = 0;int)(ob_right - MAX_RIGHT)) )}if ( !turn_enable ){if ( (ob_left > MAX_LEFT) || (ob_right > MAX_RIGHT) ){if( ((signed int)(ob_left - MAX_LEFT)) < ((signed}}{}else{}// adjust to rightadjust_right = 1;adjust_left = 0;// closer to right// adjust to leftadjust_left = 1;adjust_right = 0;be one}}}stop = 1;// recalibrate Ghost's known position if currently facing a wallif ( wall_exists(current_x_pos, current_y_pos, current_orient) ){while ( ob_front < FRONT_OBSTACLE ) // if no front wall found when there should}{// move forward until there is a front obstacleread_obstacles( ob_left, ob_front, ob_right );go_forward();}stop = 1;