Maze Solver

patches-own [visited visited2 pos dis]

globals [stack stack2 x c k t]

breed [robotLHSs robotLHS]
breed [robotASs robotAS]
breed [robotRMs robotRM]

to setup
  ca
  reset-ticks
  set stack []
  set stack2 []
end 

to make-maze

ask patches with [pzcor = 0] [
    set pcolor 0
    set visited false
    set pos ""
    ]
ask patches with [pzcor = -1] [
    set pcolor 92
    ]
  set x min-pxcor
  while [x <= max-pxcor][ask patches with [pxcor = x and pzcor = 0][set pcolor grey
      if (pxcor != min-pxcor and pxcor != max-pxcor and pycor != min-pycor and pycor != max-pycor)[set pos "wall"]]
  ask patches with [pycor = x and pzcor = 0][set pcolor grey
    if (pxcor != min-pxcor and pxcor != max-pxcor and pycor != min-pycor and pycor != max-pycor)[set pos "wall"]]
  set x (x + 2)]
  set x 0
  set c 0
  set stack (lput x stack)

  ask patches with [pxcor = max-pxcor - 1 and pycor = max-pycor - 1 and pzcor = 0] [
    set pos ""
    set pcolor green
    set visited false
    set dis (abs (max-pxcor - 1) - pxcor) + (abs (max-pycor - 1) - pycor)
    ]
  ask patches with [pxcor = min-pxcor + 1 and pycor = min-pycor + 1 and pzcor = 0] [
    set pos 0
    set pcolor 17
    set visited false
    set dis ""
    ]

  while[not(empty? stack)][
  ask patches with [pos = x and pzcor = 0][
    set k (one-of (neighbors6 with [visited = false and pos = "wall" and pzcor = 0] ))
    ifelse(k != nobody)[
    ask k[
      set t (one-of (neighbors6 with [(pcolor = 0  or pcolor = green) and visited = false]))
      ifelse (t != nobody)[
      set pcolor 0
      set visited true
      set pos ""
      set c (c + 1)
      set stack (lput c stack)
      ask t[
        set visited true
        set pos c
        ]
      set x (last stack)
      ][
        set visited true
        set x (last stack)
        set stack (but-last stack)]
      ]
    ][
      set visited true
      set x (last stack)
      set stack (but-last stack)
      ]
    ]

  ]
  ask patches with [pcolor = 0 or pcolor = green][
    set visited false
    set dis sqrt (((max-pxcor - 1) - pxcor) * ((max-pxcor - 1) - pxcor) + ((max-pycor - 1) - pycor) * ((max-pycor - 1) - pycor))
  ]
end 

to create-robot
  if(Algorithms = "Random mouse algorithm")[
    create-robotRMs 1 [
    set xcor min-pxcor + 1
    set ycor min-pycor + 1
    set zcor 0
    set heading 0
    set color sky
    set shape "circle"
    pd]
  ]
  if(Algorithms = "Left Hand Side algorithm")[
    create-robotLHSs 1 [
    set xcor min-pxcor + 1
    set ycor min-pycor + 1
    set zcor 0
    set heading 0
    set color yellow
    set shape "circle"
    pd]
  ]
  if(Algorithms = "A* algorithm")[
    create-robotASs 1 [
    set xcor min-pxcor + 1
    set ycor min-pycor + 1
    set zcor 0
    set heading 0
    set color blue
    set shape "circle"
    pd]
  ]
end 

to solve-maze
  if (any? robotLHSs)[
    LHS
  ]
  if (any? robotASs)[
    AStar
  ]
  if (any? robotRMs)[
    RM-alg
  ]
end 

to LHS
  reset-ticks

  let mes ""
  while[mes != "maze solved !"][
    tick
  ask robotLHSs [
    set c ([pcolor] of patch-here)
    ifelse (c = green)[
      set mes "maze solved !"
      die
      ][
      set k ([pcolor] of patch-ahead 1)
      set t ([pcolor] of patch-left-and-ahead 90 1)
      ifelse(t != grey)[
        set heading (heading - 90)
        fd 1
        ][
        ifelse(k != grey)[
          fd 1
          ][
          set heading (heading + 90)
          ]
        ]
      ]
  ]
  ]
  show "Left Hand Side Robot :"
  show ticks
  show mes
end 

to AStar
  reset-ticks

  while[t != "maze solved !"][
    tick
    ask robotASs[
    set c ([pcolor] of patch-here)
    ifelse (c = green)[
      set t "maze solved !"
      die
    ][
      set stack ([dis] of neighbors6 with[(pcolor = 0 or pcolor = green) and visited = false and pzcor = 0])
      ifelse (not empty? stack)[
        set x (min stack)
        ask patch-here [set stack2 (lput dis stack2)]
        face one-of (neighbors6 with [(pcolor = 0 or pcolor = green) and dis = x and visited = false and pzcor = 0])
        fd 1
        ask patch-here[
          set visited true
        ]
      ]
      [
        set k last stack2
        ask patch-here [set visited2 true]
        face one-of (neighbors6 with [dis = k and pcolor = 0 and visited2 = 0 and pzcor = 0])
        fd 1
        set stack2 (but-last stack2)
      ]
    ]
  ]
  ]

  show "A* Robot :"
  show ticks
  show t
  set t ""
end 

to RM-alg
  reset-ticks

  while[t != "maze solved !"][
    tick
    ask robotRMs[
    set c ([pcolor] of patch-here)
    ifelse (c = green)[
      set t "maze solved !"
      die
    ][
      set k one-of neighbors6 with[(pcolor = 0 or pcolor = green) and visited = false and pzcor = 0]
      ifelse(k != nobody)[
        face k
        fd 1
        ask k [set visited true]
      ][
        ask patch-here [set visited2 1]
        face one-of neighbors6 with[(pcolor = 0 or pcolor = green) and visited2 = 0 and pzcor = 0]
        fd 1
      ]
    ]
  ]
  ]

  show "RM Robot :"
  show ticks
  show t
  set t ""
end 

to reset
  ask patches with [pcolor = 0 or pcolor = green][
    set visited false
    set visited2 0
  ]
end