1601_ProjectSoftware

The robot pathfinding algorithm isn't that good, but the code has several improvements:

• Collision detection is now done by querying a bitmap, and that means you can draw your map instead of writing a linked list!
  • Any pixel with alpha value >0 is considered "solid"
• Added a separate mode which mathematically reproduces a differential driving system (turn on with C, off with V)
  • While in this mode use Q and A to control the left wheel and E D to control the others
  • Otherwise use UP DOWN LEFT RIGHT
• Added (semi transparent) breadcrumbs to where the robot has been
• Added a primitive tangent calculation and thus the angle of incidence of sensors hitting the wall, then visualising it (green + red lines above)
• Added a speed and direction bar