Getting Started

Below are 3 new algorithms you can try for your SEARCH code.

• Random: The robot will randomly turn left and right
• Step counter: The robot will count its steps and change direction every N steps
• Sub states: The robot will enter different search states called LOOKING and MOVING

Algorithm 1: Random

		// Make a random choice: 0 or 1
    long choice = random(2); 

    if (choice == 0) {
      turnLeft();
      delay(100);
    } else {
      turnRight();
      delay(100);
    }

Algorithm 2: Step counting

First, add a new variable before the loop() function, at top of your code.

// Create a counter for our search pattern
int searchCounter = 0;

Now replace your SEARCH code with this:

    searchCounter++; // Increment the counter each time we are in the SEARCH state

    if (searchCounter < 100) {
      // Step 1: Go forward for a bit
      moveForward();
    } else if (searchCounter < 150) {
      // Step 2: Turn for a bit
      turnLeft();
    } else {
      // Step 3: Reset the counter to start the pattern over
      searchCounter = 0;
    }

How it works:

• The searchCounter acts like a simple timer. Each time the loop runs and the robot is in the "SEARCH" state, the counter goes up by one.
• For the first 50 cycles, it moves forward.
• For the next 30 cycles (from 50 to 80), it turns left.
• Then it resets and starts the pattern again.

Algorithm 3: States within states

Did you know you can nest states inside of states? So while the robot is in its SEARCH state, it can have different types of searches: LOOKING and MOVING.

First add a new variable to the top of your code before loop():

// Create variables for our advanced search pattern
String searchSubState = "LOOKING"; // Can be "LOOKING" or "MOVING"

Now replace your SEARCH code with the following: