move obstacle checking down from command to drive
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50
rover.fnl
50
rover.fnl
@ -6,18 +6,28 @@
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(< 180 x) (wrap-longitude (- x 360))
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x))
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(fn at-obstacle? [{: x : y : obstacles}]
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(any obstacles
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(fn [[ox oy]] (and (= ox x) (= oy y)))))
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(fn try-to-drive [{: x : y : direction : stopped &as r} distance]
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(let [distance
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(if (. {:w true :e true} direction)
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(/ distance (math.cos (/ (* math.pi y) 180)))
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distance)]
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(match direction
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:n {:y (+ y distance)}
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:s {:y (- y distance)}
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:w {:x (wrap-longitude (- x distance))}
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:e {:x (wrap-longitude (+ x distance))})))
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(fn drive [{: x : y : direction : stopped &as r} distance]
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(if stopped
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r
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(let [distance
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(if (. {:w true :e true} direction)
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(/ distance (math.cos (/ (* math.pi y) 180)))
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distance)]
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(match direction
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:n {:y (+ y distance)}
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:s {:y (- y distance)}
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:w {:x (wrap-longitude (- x distance))}
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:e {:x (wrap-longitude (+ x distance))}))))
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(let [next-move (merge r (try-to-drive r distance))]
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(if (at-obstacle? next-move)
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(merge r {:stopped [next-move.x next-move.y]})
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next-move))))
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(fn turn-left [{: x : y : direction}]
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(if (= y 90)
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@ -43,22 +53,14 @@
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}
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(. direction))}))
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(fn at-obstacle? [{: x : y : obstacles}]
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(any obstacles
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(fn [[ox oy]] (and (= ox x) (= oy y)))))
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(fn command [rover string]
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(let [next-move
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(merge rover
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(match string
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:f (drive rover 1)
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:b (drive rover -1)
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:r (turn-right rover)
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:l (turn-left rover)
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_ (assert false (. "unrecognised command " string))))]
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(if (at-obstacle? next-move)
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(merge rover {:stopped [next-move.x next-move.y]})
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next-move)))
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(merge rover
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(match string
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:f (drive rover 1)
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:b (drive rover -1)
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:r (turn-right rover)
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:l (turn-left rover)
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_ (assert false (. "unrecognised command " string)))))
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(fn fudge-for-pole [{: y &as r}]
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(if (= y 90)
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