Everything should work now. But it doesn't.

src/communication.py

@@ -101,19 +101,21 @@ class Communication:
         self.client.loop_start()
         self._status = Mode.EXPLORE
         self.navto = []
+        self.isfirstrun = True
 
     def status(self):
         return self._status
 
     def update(self, odometry):  # TODO: FINISH
-        if(odometry is not None):  # use odometry to send data
+        if(self.isfirstrun):
+            pass
+        elif(odometry is not None):  # use odometry to send data
             self.encode_message(Command.PATH, ((self.planet.getcurnode(), self.planet.getcurdir()), ((self.planet.getcurnode()[0] + odometry[0][0], self.planet.getcurnode()[1] + odometry[0][1]), (odometry[1] - 180) % 360), odometry[2]))
-        if(self._status is Mode.GOTOSTATION or self._status is Mode.TARGET):
+        elif(self._status is Mode.GOTOSTATION or self._status is Mode.TARGET):
             self.encode_message(Command.PATH, ((self.navto[0][0], self.navto[0][1]), (self.planet._planetmap[self.navto[0][0]][self.navto[0][1]][0], self.planet._planetmap[self.navto[0][0]][self.navto[0][1]][1]), self.planet._planetmap[self.navto[0][0]][self.navto[0][1]][2]))
-            self.navto.pop(0)
         self.process_messages()  # this should update curnode and curdir
 
-    def process(self, edges):
+    def process_edges(self, edges):
             edges = self.planet.checkedges(edges)
             if(edges == [] and self._status is Mode.EXPLORE):
                 if(self.planet.unexedge == []):

src/main.py

@@ -24,39 +24,27 @@ def run():
     while(communication.planetname is None):
         communication.process_messages()
 
-    # run first time not in loop because odometry data is not relevant
-    communication.update(None)  # TODO: Register in map
-    # correct odometry right here otherwise list of edges will be incorrect
-    move.setcurdir(communication.getdir())
-    communication.process(move.getstationedges())
-    move.turnto(communication.navto[0][1])  # TODO: add control mechanism to communication class
-    sleep(4)
-    communication.planet.setcurdir(communication.navto[0][1])
-    move.setcurdir(communication.getdir())
-    move.reset()
-    print("current dir:", move._odometry.angle_get())
-    print("Navigation Data:", communication.navto)
     move.traversetonextstation(False)
 
     while(communication.status() is not Mode.COMPLETE):
-        while(communication.status() is Mode.GOTOSTATION or communication.status() is Mode.TARGET):  # should be triggered if current station has no unexplored edges
-            for instructions in communication.navto:
-                for instructions in communication.navto:
-                    communication.update(None, None)
-                    move.turnto(instructions[1])
-                    move.traversetonextstation(True)
-
         communication.update(move.getstats())  # TODO: Register in map
         # correct odometry right here otherwise list of edges will be incorrect
         move.setcurdir(communication.getdir())
-        communication.process(move.getstationedges())
+        communication.process_edges(move.getstationedges())
-        move.turnto(communication.navto[0][1])  # TODO: add control mechanism to communication class
+        if(communication.status() is Mode.GOTOSTATION or communication.status() is Mode.TARGET):  # should be triggered if current station has no unexplored edges
+            for instructions in communication.navto:
+                move.turnto(instructions[1])
+                move.traversetonextstation(True)
+                move.setcurdir(communication.planet._planetmap[instructions[0]][instructions[1]][1])
+                communication.update(None)
+            communication.navto.clear()
+            communication._status = Mode.EXPLORE
+        else:
+            move.turnto(communication.navto[0][1])
             sleep(4)
             communication.planet.setcurdir(communication.navto[0][1])
             move.setcurdir(communication.getdir())
             move.reset()
-        print("current dir:", move._odometry.angle_get())
-        print("Navigation Data:", communication.navto)
             move.traversetonextstation(False)
 
 

src/move.py

@@ -97,8 +97,8 @@ class Move:
             else:
                 found_edges.append(self._odometry.angle_get())
                 self._odometry.angle_set(self._odometry.angle_get())
-                self._wheel_l.turnbyamount(40, 60)
+                self._wheel_l.turnbyamount(20, 40)
-                self._wheel_r.turnbyamount(-40, 60)
+                self._wheel_r.turnbyamount(-20, 40)
                 sleep(2)
         self._aligntoedge()
         self._odometry.pos_update((self._wheel_l.getmovement(), self._wheel_r.getmovement()))
@@ -141,7 +141,7 @@ class Move:
                 self._odometry.pos_update((self._wheel_l.getmovement(), self._wheel_r.getmovement()))
         self._wheel_l.stop()
         self._wheel_r.stop()
-        if(self._sensor._bumper_r):
+        if(self._sensor.bumperwaspressed is True):
             self._wheel_l.turnbyamount(-200, 120)
             self._wheel_r.turnbyamount(-200, 120)
             sleep(1)