algorithm

Algorithm:

As it stands, here is the basic algorithm as found in the design documents on the team Google Drive.

• Initialize
  • Navigate to Central Point
• Retrieve Person 1 (City Right)
  • Navigate to Person 1
    • Drive Straight Approximately 6ft
    • Check Left Distance Goes High Twice
    • Slow Approach After Distance Goes Low Twice
  • Hug Person 1
  • Navigate to Central Point
  • Navigate to Appropriate Box
  • Return to Central Point
• Retrieve Person 2 (City Left)
  • Navigate to Person 2
    • Go Straight Approx 2 ft
    • Check Left Distance High
    • Turn Left, Straight, Turn Left, Straight
    • Check Distances Low Again
  • Hug Person 2
  • Navigate to Central Point
  • Navigate to Appropriate Box
  • Return to Central Point
• Retrieve Person 3 (Off Road Right)
  • Navigate to Person 3a
    • Go Straight Approx 5 ft
    • Check Left Distance Goes High Twice
    • On Second High Turn Left Go straight Approx 2 ft
    • Turn Right Go Straight Approx 1 ft Check Front Distance Low
    • Turn Left Go Straight Approx 2 ft
    • Check Person
  • If there -> Return to Central Point
  • If not -> Navigate to Person 3b
    • Go Straight 2 more feet
    • Check Front Distance Low
    • Turn Left
    • Go Straight 1.5-ish feet
    • Check Person
  • Return to Central Point
  • Navigate to Appropriate Box
  • Return to Central Point
• Retrieve Person 4 (Off Road Left)
  • Navigate to Person 4a
  • Super Debatable
  • If There → Return to Central Point
  • If Not → Navigate to Person 4b
  • Return to Central Point
  • Navigate to Appropriate Box
  • Return to Central Point
• Terminate
  • Return to Start Box