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output.log
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Number of circles found: 13
Circle at: x = 186, y = 101, radius of 99
Circle at: x = 187, y = 52, radius of 52
Circle at: x = 289, y = 152, radius of 99
Circle at: x = 82, y = 202, radius of 24
Circle at: x = 239, y = 101, radius of 100
Circle at: x = 177, y = 236, radius of 51
Circle at: x = 116, y = 203, radius of 30
Circle at: x = 106, y = 119, radius of 103
Circle at: x = 161, y = 121, radius of 120
Circle at: x = 145, y = 53, radius of 49
Circle at: x = 241, y = 54, radius of 55
Circle at: x = 290, y = 55, radius of 163
Circle at: x = 102, y = 81, radius of 88
Desired Circle found at: x = 290, y = 55, radius of 163
filling 0, 0 gray, area is 75189
filling 252, 222 gray, area is 983
number is 0
Number of circles found: 19
Circle at: x = 166, y = 98, radius of 71
Circle at: x = 129, y = 137, radius of 68
Circle at: x = 153, y = 28, radius of 67
Circle at: x = 158, y = 67, radius of 39
Circle at: x = 207, y = 47, radius of 33
Circle at: x = 97, y = 125, radius of 102
Circle at: x = 121, y = 101, radius of 77
Circle at: x = 142, y = 170, radius of 74
Circle at: x = 238, y = 164, radius of 97
Circle at: x = 124, y = 52, radius of 56
Circle at: x = 104, y = 158, radius of 60
Circle at: x = 166, y = 200, radius of 36
Circle at: x = 195, y = 89, radius of 45
Circle at: x = 88, y = 51, radius of 168
Circle at: x = 172, y = 145, radius of 91
Circle at: x = 82, y = 81, radius of 66
Circle at: x = 201, y = 137, radius of 91
Circle at: x = 41, y = 215, radius of 140
Circle at: x = 239, y = 216, radius of 141
Desired Circle found at: x = 88, y = 51, radius of 168
Return val: 0x16033
filling 0, 0 gray, area is 76762
number is 0
SIUE Beaglebot Project
12-Nov-2016
Initializing the GPIOs which we will use ...
robot.config string read -> 1:1:1:1:1:1:40:20:0:10:2.67223:3.56715:2400:1:1:0:0:1:9:80:0.0:50:1.0:0.01
exit flag is 1
sonarEna is 1
lineEna is 1
rtcEna is 1
accelEna is 1
motorType is 1
Kp is 40.000000
Ki is 20.000000
Kd is 0.000000
samplePeriod is 10.000000
wheelDiam is 2.672230
turnRad is 3.567150
ticsPerRev is 2400.000000
M1Ena is 1
M2Ena is 1
M3Ena is 0
M4Ena is 0
PWMresMode is 1
Kp (setpoint) is 9.000000
Ki (setpoint) is 80.000000
Kd (setpoint) is 0.000000
max_delta is 50.000000
velPIDscale is 1.000000
spPIDscale is 0.010000
ROBOTIO init
Initializing the PRUs.
Configuring PRU 0 with GUI data
In configPRU()
Start the PRUs ...
Starting PRU0 program
Starting PRU1 program
AMG init
IR init
PWM init
Initializing PWM controller
Turning on studfinder
Entering testRobot()
Waiting for IDLE in fwd();
dist=4.000000
velo=7.000000
Correct rotation
defaultHeading: 1853
r: 0
drift 0.000000
Status: 0x3300 Coor (-160, -69)
Coor (-160, -69)
Waiting for IDLE in fwd();
dist=2.000000
velo=7.000000
Moving arm down
Moving arm up
Waiting for IDLE in bwd().
Correct rotation
defaultHeading: 1853
r: 0
drift -2.375000
Waiting for IDLE in rotate().
Waiting for IDLE in bwd().
Correct rotation
defaultHeading: 1853
r: 0
drift 1.375000
Waiting for IDLE in rotate().
Leaving testRobot()
Initializing PWM controller
Dumping contents of shared memory to file.
Disabling the PRUs
SIUE Beaglebot Project
12-Nov-2016
Initializing the GPIOs which we will use ...
robot.config string read -> 1:1:1:1:1:1:40:20:0:10:2.67223:3.56715:2400:1:1:0:0:1:9:80:0.0:50:1.0:0.01
exit flag is 1
sonarEna is 1
lineEna is 1
rtcEna is 1
accelEna is 1
motorType is 1
Kp is 40.000000
Ki is 20.000000
Kd is 0.000000
samplePeriod is 10.000000
wheelDiam is 2.672230
turnRad is 3.567150
ticsPerRev is 2400.000000
M1Ena is 1
M2Ena is 1
M3Ena is 0
M4Ena is 0
PWMresMode is 1
Kp (setpoint) is 9.000000
Ki (setpoint) is 80.000000
Kd (setpoint) is 0.000000
max_delta is 50.000000
velPIDscale is 1.000000
spPIDscale is 0.010000
ROBOTIO init
Initializing the PRUs.
Configuring PRU 0 with GUI data
In configPRU()
Start the PRUs ...
Starting PRU0 program
Starting PRU1 program
Red button pressed. Performing reset
Initializing PWM controller
filling 0, 0 gray, area is 76469
number is 0
SIUE Beaglebot Project
12-Nov-2016
Initializing the GPIOs which we will use ...
robot.config string read -> 1:1:1:1:1:1:40:20:0:10:2.67223:3.56715:2400:1:1:0:0:1:9:80:0.0:50:1.0:0.01
exit flag is 1
sonarEna is 1
lineEna is 1
rtcEna is 1
accelEna is 1
motorType is 1
Kp is 40.000000
Ki is 20.000000
Kd is 0.000000
samplePeriod is 10.000000
wheelDiam is 2.672230
turnRad is 3.567150
ticsPerRev is 2400.000000
M1Ena is 1
M2Ena is 1
M3Ena is 0
M4Ena is 0
PWMresMode is 1
Kp (setpoint) is 9.000000
Ki (setpoint) is 80.000000
Kd (setpoint) is 0.000000
max_delta is 50.000000
velPIDscale is 1.000000
spPIDscale is 0.010000
ROBOTIO init
Initializing the PRUs.
Configuring PRU 0 with GUI data
In configPRU()
Start the PRUs ...
Starting PRU0 program
Starting PRU1 program
AMG init
IR init
PWM init
Initializing PWM controller
Turning on studfinder
Entering testRobot()
Waiting for IDLE in fwd();
dist=9.000000
velo=7.000000
Correct rotation
defaultHeading: 2267
r: 0
drift -0.812500
Waiting for IDLE in rotate().
Moving arm down
Moving arm up
Waiting for IDLE in bwd().
Correct rotation
defaultHeading: 2267
r: 0
drift 4.500000
Waiting for IDLE in rotate().
Waiting for IDLE in bwd().
Correct rotation
defaultHeading: 2267
r: 0
drift -2.750000
Waiting for IDLE in rotate().
Leaving testRobot()
Initializing PWM controller
Dumping contents of shared memory to file.
Disabling the PRUs
SIUE Beaglebot Project
12-Nov-2016
Initializing the GPIOs which we will use ...
robot.config string read -> 1:1:1:1:1:1:40:20:0:10:2.67223:3.56715:2400:1:1:0:0:1:9:80:0.0:50:1.0:0.01
exit flag is 1
sonarEna is 1
lineEna is 1
rtcEna is 1
accelEna is 1
motorType is 1
Kp is 40.000000
Ki is 20.000000
Kd is 0.000000
samplePeriod is 10.000000
wheelDiam is 2.672230
turnRad is 3.567150
ticsPerRev is 2400.000000
M1Ena is 1
M2Ena is 1
M3Ena is 0
M4Ena is 0
PWMresMode is 1
Kp (setpoint) is 9.000000
Ki (setpoint) is 80.000000
Kd (setpoint) is 0.000000
max_delta is 50.000000
velPIDscale is 1.000000
spPIDscale is 0.010000
ROBOTIO init
Initializing the PRUs.
Configuring PRU 0 with GUI data
In configPRU()
Start the PRUs ...
Starting PRU0 program
Starting PRU1 program
AMG init
IR init
PWM init
Initializing PWM controller
Turning on studfinder
Waiting for IDLE in fwd();
dist=1.000000
velo=7.000000
Correct rotation
defaultHeading: 2337
r: 0
drift -2.125000
Waiting for IDLE in rotate().
Begin spiral
Shortest path (0, 0, 0) -> (6, 0, 0)
(6,0,FORWARD)<-(5,0,FORWARD)
(5,0,FORWARD)<-(4,0,FORWARD)
(4,0,FORWARD)<-(3,0,FORWARD)
(3,0,FORWARD)<-(2,0,FORWARD)
(2,0,FORWARD)<-(1,0,FORWARD)
(1,0,FORWARD)<-(0,0,FORWARD)
Traveling
Next instruction: 0x48549 : forward6
Forward 6
xAccumdrift 0
yAccumdrift 0
Correct rotation
defaultHeading: 2337
r: 0
drift 2.812500
Waiting for IDLE in rotate().
Rotation corrected
Waiting for IDLE in fwd();
dist=72.000000
velo=7.000000
Observe (6,0): 0x16
Next instruction: 0x45753 : endPath
Shortest path (6, 0, 0) -> (6, 6, 1)
(6,6,RIGHT)<-(6,5,RIGHT)
(6,5,RIGHT)<-(6,4,RIGHT)
(6,4,RIGHT)<-(6,3,RIGHT)
(6,3,RIGHT)<-(6,2,RIGHT)
(6,2,RIGHT)<-(6,1,RIGHT)
(6,1,RIGHT)<-(6,0,RIGHT)
(6,0,RIGHT)<-(6,0,FORWARD)
Traveling
Next instruction: 0x45989 : rotRight
Rotate right
xAccumdrift 0
yAccumdrift 0
rdrift -8
defaultHeading 2337
angle to rotate 89.500000
Waiting for IDLE in rotate().
Observe (6,0): 0x41
Obstacle at (6.000000, 78.000000): 12.807579
Obstacle at (6.000000, 78.000000): 12.807579
Obstacle at (6.000000, 78.000000): 13.035187
Obstacle at (6.000000, 78.000000): 13.127460
Obstacle at (6.000000, 78.000000): 13.367373
Obstacle at (6.000000, 78.000000): 18.104084
Obstacle at (6.000000, 78.000000): 18.104084
Obstacle at (6.000000, 78.000000): 18.104084
Obstacle at (6.000000, 78.000000): 15.446606
Obstacle at (6.000000, 78.000000): 15.446606
Obstacle at (6.000000, 78.000000): 14.530020
Obstacle at (6.000000, 78.000000): 15.446606
Obstacle at (6.000000, 78.000000): 15.446606
Obstacle at (6.000000, 78.000000): 14.191683
Obstacle at (6.000000, 78.000000): 14.191683
Obstacle at (6.000000, 78.000000): 15.317421
Obstacle at (6.000000, 78.000000): 14.357777
Obstacle at (6.000000, 78.000000): 14.357777
Obstacle at (6.000000, 78.000000): 13.225885
Obstacle at (6.000000, 78.000000): 12.807579
Obstacle at (6.000000, 78.000000): 12.807579
Obstacle at (6.000000, 78.000000): 12.807579
Obstacle at (6.000000, 78.000000): 12.807579
Obstacle at (6.000000, 78.000000): 13.176674
Obstacle at (6.000000, 78.000000): 13.416584
Obstacle at (6.000000, 78.000000): 14.087107
Obstacle at (6.000000, 78.000000): 14.087107
Obstacle at (6.000000, 78.000000): 14.087107
Obstacle at (6.000000, 78.000000): 14.247047
Obstacle at (6.000000, 78.000000): 14.247047
Obstacle at (6.000000, 78.000000): 14.247047
Next instruction: 0x48549 : forward6
Forward 6
xAccumdrift 0
yAccumdrift 0
Correct rotation
defaultHeading: 2337
r: 1
drift 1.687500
Waiting for IDLE in rotate().
Rotation corrected
Waiting for IDLE in fwd();
dist=72.000000
velo=7.000000
Observe (6,6): 0x16
Obstacle at (6.000000, 78.000000): 15.508121
Obstacle at (6.010494, 78.000000): 16.781496
Obstacle at (6.115432, 78.000000): 16.781496
Obstacle at (6.293827, 78.000000): 15.840305
Obstacle at (6.433744, 78.000000): 14.702263
Obstacle at (6.668106, 78.000000): 14.646900
Obstacle at (6.895472, 78.000000): 14.646900
Obstacle at (7.056377, 78.000000): 14.702263
Obstacle at (7.294237, 78.000000): 14.880659
Obstacle at (7.539093, 78.000000): 17.095226
Obstacle at (7.686006, 78.000000): 17.095226
Obstacle at (7.913372, 78.000000): 16.861467
Obstacle at (8.126746, 78.000000): 13.515011
Obstacle at (8.305141, 78.000000): 13.515011
Obstacle at (8.563989, 78.000000): 13.515011
Obstacle at (8.805346, 78.000000): 13.976377
Obstacle at (8.987239, 78.000000): 13.976377
Obstacle at (9.256580, 78.000000): 13.225885
Obstacle at (9.515428, 78.000000): 12.296997
Obstacle at (9.676332, 78.000000): 12.296997
Obstacle at (9.921188, 78.000000): 12.296997
Obstacle at (10.075098, 78.000000): 18.374754
Obstacle at (10.326949, 78.000000): 18.374754
Obstacle at (10.613780, 78.000000): 18.190207
Obstacle at (10.799171, 78.000000): 18.190207
Obstacle at (11.068512, 78.000000): 17.581202
Obstacle at (11.313368, 78.000000): 17.501230
Obstacle at (11.474273, 78.000000): 16.861467
Obstacle at (11.708635, 78.000000): 16.553888
Obstacle at (11.859046, 78.000000): 16.553888
Obstacle at (12.082914, 78.000000): 16.553888
Obstacle at (12.299786, 78.000000): 16.861467
Obstacle at (12.439703, 78.000000): 17.581202
Obstacle at (12.667069, 78.000000): 18.940699
Obstacle at (12.894436, 78.000000): 18.940699
Obstacle at (13.041349, 78.000000): 18.940699
Obstacle at (13.240731, 78.000000): 16.553888
Obstacle at (13.433118, 78.000000): 14.702263
Obstacle at (13.566040, 78.000000): 14.702263
Obstacle at (13.768920, 78.000000): 15.003691
Obstacle at (13.978796, 78.000000): 15.065207
Obstacle at (17.063976, 78.000000): 17.095226
Obstacle at (17.259861, 78.000000): 17.501230
Obstacle at (17.459244, 78.000000): 17.753445
Obstacle at (17.595665, 78.000000): 17.839567
Obstacle at (17.791550, 78.000000): 17.925690
Obstacle at (17.980438, 78.000000): 17.925690
Obstacle at (18.106363, 78.000000): 17.839567
Obstacle at (18.309242, 78.000000): 15.317421
Obstacle at (18.512123, 78.000000): 15.317421
Obstacle at (18.648544, 78.000000): 15.317421
Obstacle at (18.847927, 78.000000): 15.840305
Obstacle at (19.040314, 78.000000): 15.914124
Obstacle at (19.173233, 78.000000): 15.914124
Obstacle at (19.365620, 78.000000): 15.772636
Obstacle at (19.568501, 78.000000): 15.575787
Obstacle at (19.715414, 78.000000): 15.508121
Obstacle at (19.932285, 78.000000): 15.508121
Obstacle at (20.135166, 78.000000): 15.508121
Obstacle at (20.275085, 78.000000): 16.264763
Obstacle at (20.484961, 78.000000): 16.781496
Obstacle at (20.736813, 78.000000): 16.935286
Obstacle at (20.894218, 78.000000): 16.935286
Obstacle at (21.118088, 78.000000): 16.935286
Obstacle at (21.331463, 78.000000): 16.935286
Obstacle at (21.467880, 78.000000): 17.095226
Obstacle at (21.702244, 78.000000): 17.095226
Obstacle at (21.863148, 78.000000): 17.095226
Obstacle at (22.094011, 78.000000): 17.095226
Obstacle at (22.310884, 78.000000): 16.627707
Obstacle at (22.450802, 78.000000): 16.553888
Obstacle at (22.650185, 78.000000): 15.981792
Obstacle at (22.779608, 78.000000): 15.981792
Obstacle at (23.017467, 78.000000): 16.123278
Obstacle at (23.283312, 78.000000): 17.255167
Obstacle at (23.451212, 78.000000): 18.282480
Obstacle at (23.696068, 78.000000): 18.467028
Obstacle at (23.849977, 78.000000): 18.559301
Obstacle at (24.094833, 78.000000): 18.750000
Obstacle at (24.374668, 78.000000): 18.750000
Obstacle at (24.549564, 78.000000): 18.104084
Obstacle at (24.804914, 78.000000): 17.501230
Obstacle at (25.053268, 78.000000): 16.480068
Obstacle at (25.207176, 78.000000): 15.575787
Obstacle at (25.445036, 78.000000): 15.575787
Obstacle at (25.661909, 78.000000): 15.575787
Obstacle at (25.812321, 78.000000): 15.704971
Obstacle at (29.187830, 78.000000): 16.627707
Obstacle at (29.411697, 78.000000): 16.123278
Obstacle at (29.551617, 78.000000): 15.772636
Obstacle at (29.789476, 78.000000): 15.643456
Obstacle at (30.041327, 78.000000): 15.643456
Obstacle at (30.198734, 78.000000): 15.643456
Obstacle at (30.433096, 78.000000): 15.643456
Obstacle at (30.653465, 78.000000): 16.480068
Obstacle at (30.789886, 78.000000): 16.480068
Obstacle at (30.999762, 78.000000): 16.781496
Obstacle at (31.244617, 78.000000): 18.282480
Obstacle at (31.517456, 78.000000): 18.282480
Obstacle at (31.769308, 78.000000): 18.282480
Obstacle at (31.923218, 78.000000): 18.282480
Obstacle at (32.140091, 78.000000): 16.406250
Obstacle at (32.360458, 78.000000): 16.406250
Obstacle at (32.535355, 78.000000): 16.627707
Obstacle at (32.811691, 78.000000): 16.627707
Obstacle at (33.063545, 78.000000): 16.627707
Obstacle at (33.231445, 78.000000): 17.335138
Obstacle at (33.462311, 78.000000): 17.335138
Obstacle at (33.675682, 78.000000): 19.648130
Obstacle at (33.812103, 78.000000): 19.648130
Obstacle at (34.021980, 78.000000): 19.543552
Obstacle at (34.175888, 78.000000): 18.559301
Obstacle at (34.434738, 78.000000): 18.559301
Obstacle at (34.672596, 78.000000): 17.501230
Obstacle at (34.830002, 78.000000): 17.501230
Obstacle at (35.050377, 78.000000): 17.501230
Obstacle at (35.190292, 78.000000): 16.781496
Obstacle at (35.400169, 78.000000): 16.781496
Obstacle at (35.645023, 78.000000): 17.415108
Obstacle at (35.826916, 78.000000): 18.651575
Obstacle at (36.085762, 78.000000): 18.750000
Obstacle at (36.246670, 78.000000): 18.750000
Obstacle at (36.477531, 78.000000): 18.750000
Obstacle at (36.715393, 78.000000): 18.467028
Obstacle at (36.900784, 78.000000): 17.753445
Obstacle at (37.194611, 78.000000): 17.753445
Obstacle at (37.484940, 78.000000): 15.643456
Obstacle at (37.663334, 78.000000): 15.003691
Obstacle at (37.925678, 78.000000): 15.003691
Obstacle at (41.136787, 78.000000): 17.255167
Obstacle at (41.360653, 78.000000): 17.255167
Obstacle at (41.563534, 78.000000): 15.704971
Obstacle at (41.703453, 78.000000): 15.704971
Obstacle at (41.927319, 78.000000): 15.704971
Obstacle at (42.140694, 78.000000): 15.704971
Obstacle at (42.298100, 78.000000): 15.704971
Obstacle at (42.528965, 78.000000): 15.378937
Obstacle at (42.745838, 78.000000): 15.378937
Obstacle at (42.882256, 78.000000): 15.378937
Obstacle at (43.102627, 78.000000): 16.049459
Obstacle at (43.249542, 78.000000): 16.123278
Obstacle at (43.466412, 78.000000): 16.332432
Obstacle at (43.683285, 78.000000): 16.781496
Obstacle at (43.830196, 78.000000): 16.935286
Obstacle at (44.054066, 78.000000): 16.781496
Obstacle at (44.263943, 78.000000): 16.406250
Obstacle at (44.421349, 78.000000): 15.126722
Obstacle at (44.662708, 78.000000): 15.126722
Obstacle at (44.893570, 78.000000): 15.126722
Obstacle at (45.047482, 78.000000): 15.249754
Obstacle at (45.267849, 78.000000): 16.781496
Obstacle at (45.509209, 78.000000): 17.753445
Obstacle at (45.680607, 78.000000): 17.753445
Obstacle at (45.921967, 78.000000): 17.581202
Obstacle at (46.079372, 78.000000): 17.581202
Obstacle at (46.313736, 78.000000): 17.335138
Obstacle at (46.541100, 78.000000): 15.126722
Obstacle at (46.681019, 78.000000): 13.465797
Obstacle at (46.894390, 78.000000): 13.225885
Obstacle at (47.104267, 78.000000): 13.225885
Obstacle at (47.240688, 78.000000): 13.268948
Obstacle at (47.478546, 78.000000): 13.465797
Obstacle at (47.635956, 78.000000): 13.927166
Obstacle at (47.870316, 78.000000): 14.247047
Obstacle at (48.083691, 78.000000): 14.247047
Obstacle at (48.230602, 78.000000): 13.225885
Obstacle at (48.440479, 78.000000): 12.899853
Obstacle at (48.636364, 78.000000): 12.899853
Obstacle at (48.769287, 78.000000): 12.899853
Obstacle at (49.014141, 78.000000): 14.191683
Obstacle at (49.245007, 78.000000): 14.191683
Obstacle at (49.398914, 78.000000): 14.191683
Obstacle at (49.608791, 78.000000): 13.871801
Obstacle at (49.818668, 78.000000): 12.014027
Obstacle at (49.976074, 78.000000): 12.014027
Obstacle at (53.225658, 78.000000): 15.188238
Obstacle at (53.460022, 78.000000): 15.446606
Obstacle at (53.610432, 78.000000): 15.643456
Obstacle at (53.827305, 78.000000): 15.704971
Obstacle at (54.044178, 78.000000): 15.704971
Obstacle at (54.191090, 78.000000): 14.819143
Obstacle at (54.393970, 78.000000): 12.992126
Obstacle at (54.596851, 78.000000): 12.721457
Obstacle at (54.729774, 78.000000): 12.721457
Obstacle at (54.911667, 78.000000): 12.721457
Obstacle at (55.030594, 78.000000): 14.031742
Obstacle at (55.212486, 78.000000): 14.136318
Obstacle at (55.394382, 78.000000): 14.880659
Obstacle at (55.527302, 78.000000): 15.317421
Obstacle at (55.723186, 78.000000): 15.914124
Obstacle at (55.912075, 78.000000): 15.914124
Obstacle at (56.100964, 78.000000): 15.508121
Obstacle at (56.219894, 78.000000): 14.942175
Obstacle at (56.412281, 78.000000): 14.942175
Obstacle at (56.604668, 78.000000): 14.942175
Obstacle at (56.730595, 78.000000): 15.840305
Obstacle at (56.919483, 78.000000): 15.840305
Obstacle at (57.101376, 78.000000): 15.446606
Obstacle at (57.227299, 78.000000): 14.763779
Obstacle at (57.416187, 78.000000): 14.763779
Obstacle at (57.545612, 78.000000): 14.702263
Obstacle at (57.744995, 78.000000): 14.702263
Obstacle at (57.926888, 78.000000): 14.702263
Obstacle at (58.049316, 78.000000): 14.819143
Obstacle at (58.234707, 78.000000): 14.819143
Obstacle at (58.353638, 78.000000): 14.819143
Obstacle at (58.556519, 78.000000): 14.763779
Obstacle at (58.766392, 78.000000): 14.357777
Obstacle at (58.899315, 78.000000): 14.357777
Obstacle at (59.102196, 78.000000): 14.530020
Obstacle at (59.228119, 78.000000): 14.530020
Obstacle at (59.448490, 78.000000): 14.530020
Obstacle at (59.682854, 78.000000): 14.191683
Obstacle at (59.836761, 78.000000): 14.191683
Obstacle at (60.043140, 78.000000): 14.191683
Obstacle at (60.242523, 78.000000): 14.585384
Obstacle at (60.375443, 78.000000): 14.702263
Obstacle at (60.560837, 78.000000): 14.702263
Obstacle at (60.760216, 78.000000): 14.763779
Obstacle at (60.896637, 78.000000): 14.819143
Obstacle at (61.103016, 78.000000): 14.942175
Obstacle at (61.298901, 78.000000): 16.123278
Obstacle at (61.431820, 78.000000): 16.123278
Obstacle at (61.617214, 78.000000): 16.264763
Obstacle at (61.816593, 78.000000): 16.049459
Obstacle at (61.963509, 78.000000): 14.763779
Obstacle at (65.087166, 78.000000): 16.190945
Obstacle at (65.237579, 78.000000): 16.190945
Obstacle at (65.489426, 78.000000): 16.190945
Obstacle at (65.734283, 78.000000): 15.772636
Obstacle at (65.895187, 78.000000): 14.942175
Obstacle at (66.119057, 78.000000): 14.880659
Obstacle at (66.342926, 78.000000): 14.880659
Obstacle at (66.521317, 78.000000): 12.807579
Obstacle at (66.804657, 78.000000): 12.635334
Obstacle at (67.070496, 78.000000): 12.549213
Obstacle at (67.238403, 78.000000): 11.564960
Obstacle at (67.476257, 78.000000): 11.564960
Obstacle at (67.700127, 78.000000): 12.635334
Obstacle at (67.847038, 78.000000): 12.992126
Obstacle at (68.067413, 78.000000): 13.084400
Obstacle at (68.315765, 78.000000): 13.367373
Obstacle at (68.490662, 78.000000): 13.268948
Obstacle at (68.728516, 78.000000): 13.268948
Obstacle at (68.983871, 78.000000): 13.268948
Obstacle at (69.155273, 78.000000): 13.268948
Obstacle at (69.400124, 78.000000): 13.268948
Obstacle at (69.561028, 78.000000): 18.190207
Obstacle at (69.826874, 78.000000): 18.190207
Obstacle at (70.113701, 78.000000): 20.638533
Obstacle at (70.285103, 78.000000): 20.638533
Obstacle at (70.547447, 78.000000): 18.190207
Obstacle at (70.827286, 78.000000): 18.011810
Obstacle at (71.019669, 78.000000): 18.011810
Obstacle at (71.289009, 78.000000): 17.753445
Obstacle at (71.463905, 78.000000): 17.335138
Obstacle at (71.708763, 78.000000): 17.335138
Obstacle at (71.957115, 78.000000): 16.553888
Obstacle at (72.128517, 78.000000): 16.553888
Obstacle at (72.418846, 78.000000): 16.553888
Obstacle at (72.604233, 78.000000): 15.981792
Obstacle at (72.873573, 78.000000): 15.914124
Obstacle at (73.128929, 78.000000): 15.914124
Obstacle at (73.293327, 78.000000): 13.976377
Obstacle at (73.534683, 78.000000): 13.927166
Obstacle at (73.765549, 78.000000): 13.515011
Obstacle at (73.912460, 78.000000): 13.927166
Obstacle at (77.183037, 78.000000): 13.871801
Next instruction: 0x45753 : endPath
Shortest path (6, 6, 1) -> (0, 6, 2)
(0,6,BACKWARD)<-(1,6,BACKWARD)
(1,6,BACKWARD)<-(2,6,BACKWARD)
(2,6,BACKWARD)<-(3,6,BACKWARD)
(3,6,BACKWARD)<-(4,6,BACKWARD)
(4,6,BACKWARD)<-(5,6,BACKWARD)
(5,6,BACKWARD)<-(6,6,BACKWARD)
(6,6,BACKWARD)<-(6,6,RIGHT)
Traveling
Next instruction: 0x45989 : rotRight
Rotate right
xAccumdrift 0
yAccumdrift 0
rdrift -23
defaultHeading 2337
angle to rotate 88.562500
Waiting for IDLE in rotate().
Observe (6,6): 0x41
Obstacle at (78.000000, 78.000000): 16.861467
Obstacle at (78.000000, 78.000000): 16.861467
Obstacle at (78.000000, 78.000000): 16.781496
Obstacle at (78.000000, 78.000000): 16.781496
Obstacle at (78.000000, 78.000000): 16.264763
Obstacle at (78.000000, 78.000000): 15.643456
Obstacle at (78.000000, 78.000000): 14.763779
Obstacle at (78.000000, 78.000000): 14.191683
Obstacle at (78.000000, 78.000000): 14.763779
Obstacle at (78.000000, 78.000000): 14.763779
Obstacle at (78.000000, 78.000000): 14.191683
Obstacle at (78.000000, 78.000000): 15.981792
Obstacle at (78.000000, 78.000000): 15.508121
Obstacle at (78.000000, 78.000000): 13.927166
Obstacle at (78.000000, 78.000000): 15.508121
Obstacle at (78.000000, 78.000000): 15.508121
Obstacle at (78.000000, 78.000000): 15.508121
Obstacle at (78.000000, 78.000000): 13.927166
Obstacle at (78.000000, 78.000000): 15.249754
Obstacle at (78.000000, 78.000000): 15.249754
Obstacle at (78.000000, 78.000000): 16.332432
Obstacle at (78.000000, 78.000000): 16.480068
Obstacle at (78.000000, 78.000000): 16.480068
Obstacle at (78.000000, 78.000000): 17.335138
Obstacle at (78.000000, 78.000000): 17.667322
Obstacle at (78.000000, 78.000000): 15.508121
Obstacle at (78.000000, 78.000000): 15.508121
Obstacle at (78.000000, 78.000000): 15.317421
Obstacle at (78.000000, 78.000000): 15.317421
Obstacle at (78.000000, 78.000000): 11.977116
Obstacle at (78.000000, 78.000000): 11.977116
Next instruction: 0x48549 : forward6
Forward 6
xAccumdrift 0
yAccumdrift 0
Correct rotation
defaultHeading: 2337
r: 2
drift 2.125000
Waiting for IDLE in rotate().
Rotation corrected
Waiting for IDLE in fwd();
dist=72.000000
velo=7.000000
Observe (0,6): 0x16
Obstacle at (78.000000, 78.000000): 14.413139
Obstacle at (78.000000, 77.979012): 14.413139
Obstacle at (78.000000, 77.874077): 14.942175
Obstacle at (78.000000, 77.692184): 14.942175
Obstacle at (78.000000, 77.573250): 14.942175
Obstacle at (78.000000, 77.335388): 14.302410
Obstacle at (78.000000, 77.108025): 14.247047
Obstacle at (78.000000, 76.940125): 14.247047
Obstacle at (78.000000, 76.684776): 14.302410
Obstacle at (78.000000, 76.520370): 14.413139
Obstacle at (78.000000, 76.279015): 14.530020
Obstacle at (78.000000, 76.048149): 14.702263
Obstacle at (78.000000, 75.894241): 14.763779
Obstacle at (78.000000, 75.624901): 14.763779
Obstacle at (78.000000, 75.432510): 14.702263
Obstacle at (78.000000, 75.149178): 14.585384
Obstacle at (78.000000, 74.963791): 14.474655
Obstacle at (78.000000, 74.701447): 12.635334
Obstacle at (78.000000, 74.439102): 12.463091
Obstacle at (78.000000, 74.264206): 11.380413
Obstacle at (78.000000, 74.019348): 12.463091
Obstacle at (78.000000, 73.753502): 14.087107
Obstacle at (78.000000, 73.557617): 14.702263
Obstacle at (78.000000, 73.277786): 14.763779
Obstacle at (78.000000, 73.102890): 14.763779
Obstacle at (78.000000, 72.844040): 15.003691
Obstacle at (78.000000, 72.571198): 15.378937
Obstacle at (78.000000, 72.375313): 15.575787
Obstacle at (78.000000, 72.098976): 15.772636
Obstacle at (78.000000, 71.829636): 15.772636
Obstacle at (78.000000, 71.658241): 15.772636
Obstacle at (78.000000, 71.409882): 15.643456
Obstacle at (78.000000, 71.137047): 15.575787
Obstacle at (78.000000, 67.939934): 13.871801
Obstacle at (78.000000, 67.618118): 14.191683
Obstacle at (78.000000, 67.310303): 14.191683
Obstacle at (78.000000, 67.114418): 14.191683
Obstacle at (78.000000, 66.820587): 14.191683
Obstacle at (78.000000, 66.540756): 14.136318
Obstacle at (78.000000, 66.351868): 14.031742
Obstacle at (78.000000, 66.089523): 13.927166
Obstacle at (78.000000, 65.827179): 13.927166
Obstacle at (78.000000, 65.641785): 13.927166
Obstacle at (78.000000, 65.351456): 14.247047
Obstacle at (78.000000, 65.071625): 14.530020
Obstacle at (78.000000, 64.889725): 14.585384
Obstacle at (78.000000, 64.511948): 14.585384
Obstacle at (78.000000, 64.319565): 14.357777
Obstacle at (78.000000, 64.043228): 13.927166
Obstacle at (78.000000, 63.777386): 13.822590
Obstacle at (78.000000, 63.511543): 13.668800
Obstacle at (78.000000, 63.350636): 13.668800
Obstacle at (78.000000, 63.091789): 14.646900
Obstacle at (78.000000, 62.790966): 14.702263
Obstacle at (78.000000, 62.490143): 14.880659
Obstacle at (78.000000, 62.203312): 15.065207
Obstacle at (78.000000, 61.996933): 15.575787
Obstacle at (78.000000, 61.703110): 15.575787
Obstacle at (78.000000, 61.419777): 15.575787
Obstacle at (78.000000, 61.157429): 15.575787
Obstacle at (78.000000, 60.979034): 15.249754
Obstacle at (78.000000, 60.720184): 15.249754
Obstacle at (78.000000, 60.468338): 15.249754
Obstacle at (78.000000, 60.272453): 15.188238
Obstacle at (78.000000, 59.978622): 14.942175
Obstacle at (78.000000, 59.705788): 14.247047
Obstacle at (78.000000, 59.439941): 14.247047
Obstacle at (78.000000, 59.146114): 14.247047
Obstacle at (78.000000, 55.669167): 12.057087
Obstacle at (78.000000, 55.420811): 12.173965
Obstacle at (78.000000, 55.182953): 12.296997
Obstacle at (78.000000, 54.850647): 12.463091
Obstacle at (78.000000, 54.661758): 12.549213
Obstacle at (78.000000, 54.374928): 12.635334
Obstacle at (78.000000, 54.109085): 13.718012
Obstacle at (78.000000, 53.857231): 14.302410
Obstacle at (78.000000, 53.703323): 14.585384
Obstacle at (78.000000, 53.458466): 14.585384
Obstacle at (78.000000, 53.231102): 14.302410
Obstacle at (78.000000, 53.073692): 13.767223
Obstacle at (78.000000, 52.807854): 13.767223
Obstacle at (78.000000, 52.556000): 13.767223
Obstacle at (78.000000, 52.314644): 13.767223
Obstacle at (78.000000, 52.167728): 13.767223
Obstacle at (78.000000, 51.947357): 13.767223
Obstacle at (78.000000, 51.793449): 13.767223
Obstacle at (78.000000, 51.569580): 14.413139
Obstacle at (78.000000, 51.345711): 15.126722
Obstacle at (78.000000, 51.205795): 15.126722
Obstacle at (78.000000, 50.995918): 15.126722
Obstacle at (78.000000, 50.803535): 14.474655
Obstacle at (78.000000, 50.670609): 13.613434
Obstacle at (78.000000, 50.436249): 13.613434
Obstacle at (78.000000, 50.282341): 13.613434
Obstacle at (78.000000, 50.068966): 14.302410
Obstacle at (78.000000, 49.862587): 14.474655
Obstacle at (78.000000, 49.729668): 14.646900
Obstacle at (78.000000, 49.512794): 14.942175
Obstacle at (78.000000, 49.330902): 15.065207
Obstacle at (78.000000, 49.072052): 15.317421
Obstacle at (78.000000, 48.820202): 15.317421
Obstacle at (78.000000, 48.666290): 15.317421
Obstacle at (78.000000, 48.442425): 15.446606
Obstacle at (78.000000, 48.169586): 15.446606
Obstacle at (78.000000, 47.987694): 15.446606
Obstacle at (78.000000, 47.728844): 14.763779
Obstacle at (78.000000, 47.463005): 14.702263
Obstacle at (78.000000, 47.277611): 14.585384
Obstacle at (78.000000, 47.008270): 14.702263
Obstacle at (78.000000, 42.831734): 20.189468
Obstacle at (78.000000, 42.656837): 12.093996
Obstacle at (78.000000, 42.411980): 12.093996
Obstacle at (78.000000, 42.167126): 12.635334
Obstacle at (78.000000, 41.929264): 14.087107
Obstacle at (78.000000, 41.736877): 14.087107
Obstacle at (78.000000, 41.460541): 13.767223
Obstacle at (78.000000, 41.201694): 13.515011
Obstacle at (78.000000, 41.026798): 13.176674
Obstacle at (78.000000, 40.781940): 12.942913
Obstacle at (78.000000, 40.530090): 12.942913
Obstacle at (78.000000, 40.376179): 11.275837
Obstacle at (78.000000, 40.148815): 11.275837
Obstacle at (78.000000, 39.931942): 11.275837
Obstacle at (78.000000, 39.792023): 10.875984
Obstacle at (78.000000, 39.592644): 10.875984
Obstacle at (78.000000, 39.396759): 9.504183
Obstacle at (78.000000, 39.274330): 8.513779
Obstacle at (78.000000, 39.067951): 8.513779
Obstacle at (78.000000, 38.938526): 8.864418
Obstacle at (78.000000, 38.753136): 9.504183
Obstacle at (78.000000, 38.567745): 10.076279
Obstacle at (78.000000, 38.438324): 10.297737
Obstacle at (78.000000, 38.242439): 16.861467
Obstacle at (78.000000, 38.053551): 17.581202
Obstacle at (78.000000, 37.913631): 18.011810
Obstacle at (78.000000, 37.703754): 18.940699
Obstacle at (78.000000, 37.577831): 18.011810
Obstacle at (78.000000, 37.381947): 18.011810
Obstacle at (78.000000, 37.193058): 17.255167
Obstacle at (78.000000, 37.060135): 14.031742
Obstacle at (78.000000, 36.857254): 14.031742
Obstacle at (78.000000, 36.619396): 14.031742
Obstacle at (78.000000, 36.458488): 14.530020
Obstacle at (78.000000, 36.241619): 14.530020
Obstacle at (78.000000, 36.101700): 13.035187
Obstacle at (78.000000, 35.905815): 13.035187
Obstacle at (78.000000, 35.709930): 13.035187
Obstacle at (78.000000, 35.479069): 14.087107
Obstacle at (78.000000, 35.325157): 14.087107
Obstacle at (78.000000, 35.101292): 14.087107
Obstacle at (78.000000, 31.907673): 12.217028
Obstacle at (78.000000, 31.669811): 12.057087
Obstacle at (78.000000, 31.442448): 12.057087
Obstacle at (78.000000, 31.274548): 12.057087
Obstacle at (78.000000, 30.980721): 12.420029
Obstacle at (78.000000, 30.700886): 12.506151
Obstacle at (78.000000, 30.522488): 12.678394
Obstacle at (78.000000, 30.256645): 12.506151
Obstacle at (78.000000, 29.987305): 13.822590
Obstacle at (78.000000, 29.826401): 13.976377
Obstacle at (78.000000, 29.574547): 14.474655
Obstacle at (78.000000, 29.336689): 14.474655
Obstacle at (78.000000, 29.175781): 14.474655
Obstacle at (78.000000, 28.944920): 13.976377
Obstacle at (78.000000, 28.658089): 13.465797
Obstacle at (78.000000, 28.469200): 13.318159
Obstacle at (78.000000, 28.213852): 12.807579
Obstacle at (78.000000, 27.958500): 11.786417
Obstacle at (78.000000, 27.787102): 11.786417
Obstacle at (78.000000, 27.535252): 11.786417
Obstacle at (78.000000, 27.286896): 12.093996
Obstacle at (78.000000, 27.118996): 13.718012
Obstacle at (78.000000, 26.853153): 14.031742
Obstacle at (78.000000, 26.678257): 14.136318
Obstacle at (78.000000, 26.415909): 14.136318
Obstacle at (78.000000, 26.118584): 14.136318
Obstacle at (78.000000, 25.929695): 13.613434
Obstacle at (78.000000, 25.663853): 13.613434
Obstacle at (78.000000, 25.488956): 13.613434
Obstacle at (78.000000, 25.237106): 13.367373
Obstacle at (78.000000, 24.978256): 14.530020
Obstacle at (78.000000, 24.782372): 12.899853
Obstacle at (78.000000, 24.474556): 12.764519
Obstacle at (78.000000, 24.187725): 12.899853
Obstacle at (78.000000, 24.005833): 15.575787
Obstacle at (78.000000, 23.719002): 17.753445
Obstacle at (78.000000, 23.418179): 17.753445
Obstacle at (78.000000, 23.222294): 17.753445
Obstacle at (78.000000, 19.976208): 14.136318
Obstacle at (78.000000, 19.689377): 14.136318
Obstacle at (78.000000, 19.489994): 14.087107
Obstacle at (78.000000, 19.199665): 12.856792
Obstacle at (78.000000, 18.877853): 12.856792
Obstacle at (78.000000, 18.678471): 12.856792
Obstacle at (78.000000, 18.388142): 11.042076
Obstacle at (78.000000, 18.073330): 11.669537
Obstacle at (78.000000, 17.870449): 11.669537
Obstacle at (78.000000, 17.590614): 12.807579
Obstacle at (78.000000, 17.338760): 12.807579
Obstacle at (78.000000, 17.177856): 12.807579
Obstacle at (78.000000, 16.915512): 12.592274
Obstacle at (78.000000, 16.667156): 12.296997
Obstacle at (78.000000, 16.520245): 11.977116
Obstacle at (78.000000, 16.289379): 11.977116
Obstacle at (78.000000, 16.079502): 11.977116
Obstacle at (78.000000, 15.939587): 12.296997
Obstacle at (78.000000, 15.680740): 12.992126
Obstacle at (78.000000, 15.421890): 12.992126
Obstacle at (78.000000, 15.260986): 12.093996
Obstacle at (78.000000, 15.030121): 11.564960
Obstacle at (78.000000, 14.883209): 11.564960
Obstacle at (78.000000, 14.659340): 12.093996
Obstacle at (78.000000, 14.417984): 11.528051
Obstacle at (78.000000, 14.236092): 12.420029
Obstacle at (78.000000, 13.984238): 13.367373
Obstacle at (78.000000, 13.826828): 13.668800
Obstacle at (78.000000, 13.602966): 13.718012
Obstacle at (78.000000, 13.347610): 13.718012
Obstacle at (78.000000, 13.183212): 13.668800
Obstacle at (78.000000, 12.952347): 13.767223
Obstacle at (78.000000, 12.735474): 14.087107
Obstacle at (78.000000, 12.602554): 14.702263
Obstacle at (78.000000, 12.413666): 15.003691
Obstacle at (78.000000, 12.193298): 15.003691
Obstacle at (78.000000, 12.028893): 15.003691
Obstacle at (78.000000, 11.798027): 14.763779
Obstacle at (78.000000, 11.574158): 13.976377
Obstacle at (78.000000, 11.434242): 13.613434
Obstacle at (78.000000, 11.210373): 13.127460
Obstacle at (78.000000, 7.894325): 14.191683
Obstacle at (78.000000, 7.656471): 14.474655
Obstacle at (78.000000, 7.397621): 14.474655
Obstacle at (78.000000, 7.236717): 14.474655
Next instruction: 0x45753 : endPath
Shortest path (0, 6, 2) -> (0, 1, 3)
(0,1,LEFT)<-(0,2,LEFT)
(0,2,LEFT)<-(0,3,LEFT)
(0,3,LEFT)<-(0,4,LEFT)
(0,4,LEFT)<-(0,5,LEFT)
(0,5,LEFT)<-(0,6,LEFT)
(0,6,LEFT)<-(0,6,BACKWARD)
Traveling
Next instruction: 0x45989 : rotRight
Rotate right
xAccumdrift 0
yAccumdrift 0
rdrift -19
defaultHeading 2337
angle to rotate 88.812500
Waiting for IDLE in rotate().
Observe (0,6): 0x41
Obstacle at (78.000000, 6.000000): 14.880659
Obstacle at (78.000000, 6.000000): 14.819143
Obstacle at (78.000000, 6.000000): 14.880659
Obstacle at (78.000000, 6.000000): 14.880659
Obstacle at (78.000000, 6.000000): 14.880659
Obstacle at (78.000000, 6.000000): 14.880659
Obstacle at (78.000000, 6.000000): 13.127460
Obstacle at (78.000000, 6.000000): 13.084400
Obstacle at (78.000000, 6.000000): 13.084400
Obstacle at (78.000000, 6.000000): 12.592274
Obstacle at (78.000000, 6.000000): 13.176674
Obstacle at (78.000000, 6.000000): 13.176674
Obstacle at (78.000000, 6.000000): 12.992126
Obstacle at (78.000000, 6.000000): 12.721457
Obstacle at (78.000000, 6.000000): 12.992126
Obstacle at (78.000000, 6.000000): 12.992126
Obstacle at (78.000000, 6.000000): 12.942913
Obstacle at (78.000000, 6.000000): 13.613434
Obstacle at (78.000000, 6.000000): 13.613434
Obstacle at (78.000000, 6.000000): 14.087107
Obstacle at (78.000000, 6.000000): 14.087107
Obstacle at (78.000000, 6.000000): 14.087107
Obstacle at (78.000000, 6.000000): 13.822590
Obstacle at (78.000000, 6.000000): 13.515011
Obstacle at (78.000000, 6.000000): 13.668800
Obstacle at (78.000000, 6.000000): 13.822590
Obstacle at (78.000000, 6.000000): 14.357777
Obstacle at (78.000000, 6.000000): 14.357777
Obstacle at (78.000000, 6.000000): 14.357777
Obstacle at (78.000000, 6.000000): 14.247047
Next instruction: 0x48837 : forward5
Forward 5
xAccumdrift 0
yAccumdrift 0
Correct rotation
defaultHeading: 2337
r: 3
drift -1.500000
Waiting for IDLE in rotate().
Waiting for IDLE in fwd();
dist=60.000000