package edu.illinois.mitra.demo.maze;

import edu.illinois.mitra.starlSim.main.SimSettings;
import edu.illinois.mitra.starlSim.main.Simulation;

public class Main {
/*
 * This application make use of RRT path planning to navigate through a maze
 * No corrdination is implemented in this application
 */

	public static void main(String[] args) {
		SimSettings.Builder settings = new SimSettings.Builder();
		settings.N_IROBOTS(2);
		settings.N_GBOTS(1);
		settings.N_DBOTS(1);
		settings.N_RBOTS(0);
		settings.TIC_TIME_RATE(1);
		settings.WAYPOINT_FILE("dest.wpt");

		settings.OBSPOINT_FILE("Obstacles.wpt");
		settings.THREE_D(true);
		settings.DRAW_WAYPOINTS(false);
		settings.DRAW_WAYPOINT_NAMES(false);
		settings.DRAWER(new MazeDrawer());
		settings.Detect_Precision(10);
		settings.De_Radius(4);
		settings.MSG_LOSSES_PER_HUNDRED(100);
//		settings.GPS_POSITION_NOISE(-5);
//		settings.GPS_ANGLE_NOISE(1);
//		settings.BOT_RADIUS(400);
		Simulation sim = new Simulation(MazeApp.class, settings.build());
		sim.start();
	}

}
