Test_Code_2.txt

# turns left in the amount of degrees specified (if negative turns right)
func _turn(int deg)
{
	drone_enum turnDir;
	if (deg > 0)
	{
		turnDir = LEFT;
	}
	elseif (deg < 0)
	{
		turnDir = RIGHT;
		deg = -1 * deg;
	}
	
	for (int i = 0; i < deg; i = i + 1)
	{
		&turn(turnDir);
	}
}

# function for drone to spray a rectangular area, assumes that drone is located right on the left bottom corner and facing north. Left bottom corner of rectangle is (0,0)

func _sprayParalelo( int length, int width)
{
	&connectTo(197.6.0.200);

	real firstAlti = &getAltitude();            # Altitude at the release
	real cruiseAlti = firstAlti + 5;
	real areaGoal = length * width;      		# Area to be covered 
    real areaDone = 0;							# Area covered
    int curX = 0;
    int curY = 0;

    $output("Area to be covered is ");
    $output(areaGoal);

    while( firstAlti <= cruiseAlti){
    	&climb(UP);
    }
    

    for( int i = 1; i < width; i = i + 2){
    	while(curX <= length){
    	&toggleSpray(ON);
    	&move(FORWARD);
	    }
	    areaDone = areaDone + length;
	    $output("Area Covered is: ");
	    $output(areaDone);
	    &toggleSpray(OFF);
	    _turn(-60);
	    while(width - curY <= width - i){
	    	&toggleSpray(ON);
	    	&move(FORWARD);
	    }
	    _turn(-120);
	    &toggleSpray(OFF);
	    while(curX >= 0){
	    	&toggleSpray(ON);
	    	&move(FORWARD);
	    }
	    areaDone = areaDone + length;
	    $output("Area Covered is: ");
	    $output(areaDone);
	    _turn(120);
	    &toggleSpray(OFF);
	    while(width - curY <= width - (i + 1) ){
	    	&toggleSpray(ON);
	    	&move(FORWARD);
    	}
    	_turn(60);
    }
}

main(){
	length = 10;
	width = 5;
	_sprayParalelo( length, width);
}