Merge branch 'main' of github.com:micromouseonline/mazerunner-core

mazerunner-core/cli.h

@@ -414,8 +414,9 @@ class CommandLineInterface {
    *
    */
   void help() {
-    Serial.println(F("W   : display maze walls"));
     Serial.println(F("X   : reset maze"));
+    Serial.println(F("W   : display maze walls"));
+    Serial.println(F("C   : display maze costs"));
     Serial.println(F("R   : display maze with directions"));
     Serial.println(F("B   : show battery voltage"));
     Serial.println(F("S   : show sensor readings"));

mazerunner-core/config-robot-orion.h

@@ -171,7 +171,7 @@ const float GEAR_RATIO = 10.7917;
 // small amount. AFTER you have the wheel diameter and gear ratio calibrated,
 // have the mouse turn in place and adjust the MOUSE_RADIUS until these turns are
 // as accurate as you can get them
-const float MOUSE_RADIUS = 38.070;  // 39.50; // Adjust on test
+const float MOUSE_RADIUS = 38.70;  // 39.50; // Adjust on test
 
 // The robot is likely to have wheels of different diameters or motors of slightly
 // different characteristics and that must be compensated for if the robot is to

mazerunner-core/mazerunner-core.ino

@@ -89,6 +89,7 @@ void setup() {
   /// leave the emitters off unless we are actually using the sensors
   /// less power, less risk
   sensors.disable();
+  maze.set_goal(GOAL);
   reporter.set_printer(Serial);
   Serial.println();
   Serial.println(F(NAME));

mazerunner-core/mouse.h

@@ -340,7 +340,14 @@ class Mouse {
     }
     motion.move(BACK_WALL_TO_CENTER, SEARCH_SPEED, SEARCH_SPEED, SEARCH_ACCELERATION);
     motion.set_position(HALF_CELL);
-    Serial.println(F("Off we go..."));
+    Serial.print(F("Off we go..."));
+    printer.print('[');
+    printer.print(target.x);
+    printer.print(',');
+    printer.print(target.y);
+    printer.print(']');
+    Serial.println();
+
     motion.wait_until_position(SENSING_POSITION);
     // Each iteration of this loop starts at the sensing point
     while (m_location != target) {