2. FEMBOTS Sarah Spulecki Stephanie Nussbickel Miriam Caetano Lindsey Desjarlais

3. Objectives: Create a structured program that allows a robot to: Create a structured program that allows a robot to: Explore a maze from start to finish. Explore a maze from start to finish. Recognize the final room and to drop the cargo (beep). Recognize the final room and to drop the cargo (beep). Return the robot to its starting place following the shortest route. Return the robot to its starting place following the shortest route.

4. The Sub-programs: moverobot moverobot robotmove robotmove createmap createmap goback goback

5. robotmove Looks for avaliable paths to take Looks for avaliable paths to take Follows the right wall Follows the right wall if-elseif loop if-elseif loop

6. moverobot Determines the robots direction Determines the robots direction Finds and returns robots location in the matrix Finds and returns robots location in the matrix Variables: t - move Robot(1)= move left Robot(0)=move forward Robot(2)= move right D – direction 1- east 2- north 3- west 4- south (x,y) coordinate system

7. createmap Makes a map of the robots path Makes a map of the robots path Zeros matrix Zeros matrix Assigns a value of 1 to initial move Assigns a value of 1 to initial move Adds 1 to each subsequent/previous move Adds 1 to each subsequent/previous move Resets value to 0 while back- tracking Resets value to 0 while back- tracking

8. goback Returns the robot to the starting position following the shortest route Returns the robot to the starting position following the shortest route Follows the non-zero values in the matrix in decreasing order Follows the non-zero values in the matrix in decreasing order

9. FINAL MAP map = map = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 6 5 4 1 0 0 0 6 5 4 1 0 0 8 7 0 3 2 0 0 8 7 0 3 2 0 0 9 0 0 0 0 0 0 9 0 0 0 0 0 0 10 0 0 0 0 0 0 10 0 0 0 0 0 0 11 0 0 0 0 0 0 11 0 0 0 0 0 0 12 0 0 0 0 0 0 12 0 0 0 0 0 0 13 0 0 0 0 0 0 13 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 This is what the map looks when the robot is returning to the starting position This is what the map looks when the robot is returning to the starting position

10. Main Program robot1 robot1 Starts the robot on any given maze Starts the robot on any given maze Using a while loop allows the robot to search through the maze until it finds the top-right corner using robotmove Using a while loop allows the robot to search through the maze until it finds the top-right corner using robotmove Brings the robot back to the start position using goback Brings the robot back to the start position using goback

11. This concludes our presentation The FEMBOTS would be happy to answer any questions at this time.