#
# This ant won't leave the hill
# He just looks for food on EDGE_MARKER, and if found picks
# it up and runs it to the middle of the hill
# fooddrop_marker is where to drop food
#

top:
Goto @find_edge

# go straight until you see an edge, then turn left
find_edge_left:
  Turn Left PASS
find_edge:
  Type 2
  Sense Ahead @done_find_edge PASS Marker $edge_marker
  Move @find_edge @find_edge_left
done_find_edge:
  # turn left until no marker
  Turn Left PASS
  Sense Ahead @done_find_edge @walk_first_edge Marker $edge_marker
walk_first_edge:
  # walk the first edge to put us in a good state
  Sense Ahead @walk_first_edge_finish PASS Marker $edge_marker
  Move @walk_first_edge @walk_first_edge
walk_first_edge_finish:
  # turn left until no marker
  Turn Left PASS
  Sense Ahead @walk_first_edge_finish @walk_edge Marker $edge_marker
  
enter_hill_turn:
  Turn Left @enter_hill
enter_hill:
  # turn until we are facing a non-edge piece of the hill
  Sense Ahead @enter_hill_turn PASS Marker $edge_marker
  Sense Ahead PASS @enter_hill_turn Home
  Move @find_edge REPEAT
# keep the edge on our right, and if we see food there grab it
walk_edge:
beg_walk_edge0:
    # do some error checking
    Sense Here @enter_hill PASS Marker $edge_marker
    # done error checking
    Sense RightAhead PASS @beg_walk_edge1 Food
    Turn Right PASS
    Move PASS REPEAT
    PickUp PASS PASS
    Turn Left PASS
    Turn Left @goto_center
beg_walk_edge1:
    Move PASS REPEAT
    Sense RightAhead PASS @beg_walk_edge2 Food
    Turn Right PASS
    Move PASS REPEAT
    PickUp PASS PASS
    Turn Left PASS
    Turn Left @goto_center
beg_walk_edge2:
    Move PASS REPEAT
    Sense RightAhead PASS @end_walk_edge0 Food
    Turn Right PASS
    Move PASS REPEAT
    PickUp PASS PASS
    Turn Left PASS
    Turn Left PASS
    Turn Left @goto_center
end_walk_edge0:
    Move PASS REPEAT
    Sense RightAhead PASS @end_walk_edge1 Food
    Turn Right PASS
    Move PASS REPEAT
    PickUp PASS PASS
    Turn Left PASS
    Turn Left PASS
    Turn Left @goto_center
end_walk_edge1:
    Move PASS REPEAT
    Sense RightAhead PASS @walk_edge_done Food
    Turn Right PASS
    Move PASS REPEAT
    PickUp PASS PASS
    Turn Left PASS
    Turn Left PASS
    Turn Left @goto_center
walk_edge_done:
    Turn Left @beg_walk_edge0  

goto_center_spin:
  Turn Left PASS
  Turn Left PASS
  Flip 2 @goto_center PASS
  Turn Left @goto_center
goto_center:
  # move until we see it
  Sense Ahead @hit_center PASS Marker $fooddrop_marker
  Sense Ahead @goto_center_spin PASS Marker $edge_marker
  Move @goto_center REPEAT
hit_center:
  # see if we found the entrance
  Sense Ahead PASS @found_entrance Friend
  # nope, turn until we are paralell
hit_center_turn:
  Turn Right PASS
  Sense Ahead @hit_center_turn PASS Marker $fooddrop_marker
  Move PASS REPEAT
hit_center_turn2:
  Turn Left PASS
  Sense Ahead @goto_center @hit_center_turn2 Marker $fooddrop_marker

found_entrance:
  Move PASS @flee_center
  # are we hitting it straight on?
  Sense Ahead PASS @enter_center Friend
  Sense LeftAhead PASS @enter_center_l Friend
  Sense RightAhead PASS @enter_center_r Friend
  # strange
  Goto @goto_center
enter_center_l:
  Turn Left @enter_center
enter_center_r:
  Turn Right @enter_center
enter_center:
  Move PASS @flee_center
  Drop PASS
  Print ("Food in center",board[ant.pos]['food'])
  Turn Around @find_edge

flee_center:
  Turn Around PASS
  Move PASS PASS
  Move PASS PASS
  Move PASS PASS
  Turn Around PASS
  Sleep 30
  Move PASS PASS
  Move PASS PASS
  Move PASS PASS
  Move PASS PASS
  Move PASS PASS
  Move PASS PASS
  Goto @goto_center
dummy:
  Type 6
  Sleep 1
  Goto @dummy
spin:
  include spin.part
  Goto @find_edge

go_center:
  # we should hit the center if we go straight ... should
  Move REPEAT REPEAT