How to implement?

[DrJones]

I am trying to implement the pseudo code described here

http://www.societyofrobots.com/programming_wavefront.shtml


but i do not understand how i check boundary nodes, and how i would move to the next. ??

[Computergeek01]

The data on the "boundary nodes" is coming from his IR sensor on top of the robot. From what he describes, whenever this IR sensor "sees" something it raises an interrupt and updates the 'sensors_in' array which then gets copied to the 'sensors' array when "delayAndUpdateSensors()" is called. The function "servo_scan()" is what moves the IR sensor around and "find_wall()" is what updates the map array.

I am not a fan of the way his code is written, there are just seem to be too many oddities. But it is explained more or less in 'iRobot.c' and 'wave_front.c' from that link he provides here: http://www.societyofrobots.com/downloads/iRobot_Create_wave_front.zip

Literally everything hinges on the input from that sensor.