Fixed lots and lots of errors. Added and tweaked some helper functions. Main loop is now partially working.

src/main.py

@@ -4,6 +4,7 @@ import paho.mqtt.client as mqtt
 from planet import Direction, Planet
 from communication import Mode, Communication
 from move import Move
+from time import sleep
 
 # DO NOT EDIT
 client = None
@@ -23,6 +24,17 @@ 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, move.getstationedges())  # TODO: Register in map
+    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:
@@ -31,11 +43,15 @@ def run():
                     move.turnto(instructions[1])
                     move.traversetonextstation(True)
 
-        communication.update(move._odometry.coordinates_get(), move.getstationedges())  # TODO: Register in map
-        move.updatevars()
+        communication.update(move.getstats(), move.getstationedges())  # TODO: Register in map
         move.turnto(communication.navto[0][1])  # TODO: add control mechanism to communication class
-        if(communication.check(move.traversetonextstation(False)) is False):
-            move.setcurdir(communication.getdir())
+        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)
 
 
 # DO NOT EDIT