bq11.js

/*
 * Open all three doors to exit.
 *
 * The answer is ?.
 */

var mode = "centering";
var position = 0;
var sequences = [
  [1, 0, 0], // On
  [1, 0, 0], // Off
  
  [0, 1, 0], // On
  [0, 1, 0], // Off

  [0, 0, 1], // On
  [0, 0, 1], // Off

  [1, 1, 1], // On
  [1, 1, 1], // Off

  [1, 1, 0], // On
  [1, 1, 0], // Off

  [1, 0, 1], // On
  [1, 0, 1], // Off

  [0, 1, 1], // On
  [0, 1, 1], // Off
]

var sequence_no = 0;
var sequence = sequences[sequence_no];

var stop = function(self) {
	self.thrusters.top(false);
	self.thrusters.left(false);
	self.thrusters.bottom(false);
	self.thrusters.right(false);
}

this.on("start", function() {
	this.thrusters.bottom(true);
});


this.on("sensor:top", function(){
  if (mode == "centering") {
      mode = "scan";
      stop(this);
    
      this.radar.angle(0);
      this.radar.ping();
      this.thrusters.left(true);
  }
});

this.on("radar:hit", function(angle, distance){
  	if (mode == "scan" && angle == 0) {
      	if ((position == 0 && Math.abs(distance - 375) < 10) ||
        	(position == 1 && Math.abs(distance - 280) < 10) ||
            (position == 2 && Math.abs(distance - 170) < 10)) {
          	position += 1;
          	
	        if (sequence[position - 1]) {
          		stop(this);
		        this.thrusters.bottom(true);
		      	this.radar.angle(270);
            	mode = "switch";
            }
        } else if (Math.abs(distance - 150) < 10) {
          	stop(this);
            this.thrusters.right(true);
            this.radar.angle(0);
            mode = "comeback";
        }
      	this.radar.ping();
	}

  	if (mode == "switch" || mode == "switch_back") {
      	if ((Math.abs(distance - 115) < 5)) {
            stop(this);
          	mode = "switch_back";
			this.thrusters.top(true);
        }

      	if (mode == "switch_back" && Math.abs(distance - 170) < 5) {
            stop(this);
           	if (position == sequence.length) {
				this.thrusters.right(true);
                this.radar.angle(0);
              	mode = "comeback";
            } else {
				this.thrusters.left(true);
                this.radar.angle(0);

	            mode = "scan";
            }
        }
      	this.radar.ping();
    }

    if (mode == "comeback") {
      	if ((Math.abs(distance - 250) < 20)) {
            stop(this);
	      	this.radar.angle(90);
            mode = "test_exit";
        }

        if ((Math.abs(distance - 400) < 5)) {
            mode = "scan";
          	sequence_no += 1;
            position = 0;
	        sequence = sequences[sequence_no];
          	console.log(sequence);
            stop(this);
          
            this.radar.angle(0);
            this.radar.ping();
            this.thrusters.left(true);
        }

      	this.radar.ping();
    }
  
  	if (mode == "test_exit") {
        this.thrusters.right(true);
        this.radar.angle(0);
        mode = "comeback";
    }
});


this.on("radar:miss", function(){
 	stop(this);
	this.thrusters.top(true);
});