From f8ce6d0c831f90d9c4bb3630c9cc9bdf901b771f Mon Sep 17 00:00:00 2001
From: Brady Bodily <bradybod@gmail.com>
Date: Wed, 16 Dec 2020 04:02:37 -0700
Subject: [PATCH 1/2] Getting close

---
 .../.idea/contentModel.xml                    |   7 +
 .../.idea.RobotIntelFinal/.idea/workspace.xml | 131 ++++++++-------
 ConsoleApp/ConsoleApp.csproj                  |   7 +
 ConsoleApp/Maps/HexMap.cs                     |  28 ++--
 ConsoleApp/Maps/IHexMap.cs                    |   2 +
 ConsoleApp/Maps/IMapFactory.cs                |   1 -
 ConsoleApp/Maps/IMineMap.cs                   |   3 +
 ConsoleApp/Maps/MapExtensions.cs              |   1 -
 ConsoleApp/Maps/MapFactory.cs                 |  18 ++-
 ConsoleApp/Maps/MineMap.cs                    |  32 +++-
 ConsoleApp/Maps/SquareMap.cs                  |  17 +-
 ConsoleApp/Output/DetectedMines.txt           |   7 +
 ConsoleApp/Output/Mines.txt                   |   8 +
 ConsoleApp/Output/SavedList.txt               | 150 ++++++++++++++++++
 ConsoleApp/Output/test.png                    | Bin 0 -> 31871 bytes
 .../PathPlanners/IReactivePathPlanner.cs      |   2 +
 ConsoleApp/PathPlanners/PathPlanner.cs        |  53 +++----
 .../PathPlanners/ReactivePathPlanner.cs       |  32 +++-
 ConsoleApp/Program.cs                         |  28 ++++
 ConsoleApp/Sim/DetectionHead.cs               |  11 +-
 ConsoleApp/Sim/IVehicle.cs                    |   7 +-
 ConsoleApp/Sim/Vehicle.cs                     |  24 +--
 ConsoleApp/Sim/VehicleConfiguration.cs        |   1 -
 ConsoleApp/Sim/VehicleConfiguration.json      |   9 +-
 ConsoleApp/SimRunner.cs                       | 128 ++++++++++++++-
 ConsoleApp/UserConsole.cs                     |   4 +-
 ConsoleApp/plot.py                            |  39 +++++
 27 files changed, 587 insertions(+), 163 deletions(-)
 create mode 100644 ConsoleApp/Output/DetectedMines.txt
 create mode 100644 ConsoleApp/Output/Mines.txt
 create mode 100644 ConsoleApp/Output/SavedList.txt
 create mode 100644 ConsoleApp/Output/test.png
 create mode 100644 ConsoleApp/plot.py

diff --git a/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml b/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
index 83db942..94ec944 100644
--- a/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
+++ b/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
@@ -34,12 +34,19 @@
             </e>
           </e>
         </e>
+        <e p="Output" t="Include">
+          <e p="DetectedMines.txt" t="Include" />
+          <e p="Mines.txt" t="Include" />
+          <e p="SavedList.txt" t="Include" />
+          <e p="test.png" t="Include" />
+        </e>
         <e p="PathPlanners" t="Include">
           <e p="IPathPlanner.cs" t="Include" />
           <e p="IReactivePathPlanner.cs" t="Include" />
           <e p="PathPlanner.cs" t="Include" />
           <e p="ReactivePathPlanner.cs" t="Include" />
         </e>
+        <e p="plot.py" t="Include" />
         <e p="Program.cs" t="Include" />
         <e p="Sim" t="Include">
           <e p="DetectionHead.cs" t="Include" />
diff --git a/.idea/.idea.RobotIntelFinal/.idea/workspace.xml b/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
index 0d747c3..8de59d7 100644
--- a/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
+++ b/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
@@ -18,29 +18,29 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="dafcaeb7-80aa-43a3-a480-786fafb78c0b" name="Default Changelist" comment="">
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/Maps/IMineMap.cs" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/Maps/MapExtensions.cs" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/Maps/MineMap.cs" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/IReactivePathPlanner.cs" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/ReactivePathPlanner.cs" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/ConsoleApp/plot.py" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/.idea/.idea.RobotIntelFinal/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/.idea.RobotIntelFinal/.idea/workspace.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/ConsoleApp.csproj" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/ConsoleApp.csproj" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/CoreModule.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/CoreModule.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/Cell.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/Cell.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/ICell.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/ICell.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/IHexMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/IHexMap.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/IMapFactory.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/IMapFactory.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/IMineMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/IMineMap.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/MapExtensions.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/MapExtensions.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/PathPlanners/IPathPlanner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/IPathPlanner.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/MineMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/MineMap.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/PathPlanners/IReactivePathPlanner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/IReactivePathPlanner.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/PathPlanners/ReactivePathPlanner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/ReactivePathPlanner.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/Program.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Program.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Sim/DetectionHead.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/DetectionHead.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Sim/IVehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/IVehicle.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Sim/Vehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/Vehicle.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.json" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.json" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Vehicle/DetectionHead.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/DetectionHead.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Vehicle/IVehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/IVehicle.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Vehicle/Vehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/Vehicle.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Vehicle/VehicleConfiguration.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Vehicle/VehicleConfiguration.json" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.json" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -58,31 +58,56 @@
     <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
   </component>
   <component name="HighlightingSettingsPerFile">
-    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/EE5CA5D4-EDEB-48AE-9C0D-FE354330FB77/0b/0953c23b/GraphFactory.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/EE5CA5D4-EDEB-48AE-9C0D-FE354330FB77/f7/268fdeac/Graph.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/EB067793-5C3F-4219-AEF1-3AB117C20649/133/Thread.CoreCLR.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
-    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/EE5CA5D4-EDEB-48AE-9C0D-FE354330FB77/84/4eb9c798/GraphUtils.cs" root0="SKIP_HIGHLIGHTING" />
-    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/7AFCB195-1BDF-4087-9F2D-5BFCFC407B2B/46/ThrowHelper.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/EB067793-5C3F-4219-AEF1-3AB117C20649/39B/EqualityComparer.CoreCLR.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/EB067793-5C3F-4219-AEF1-3AB117C20649/11/Array.cs" root0="SKIP_HIGHLIGHTING" />
-    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/EB067793-5C3F-4219-AEF1-3AB117C20649/3A4/List.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/7AFCB195-1BDF-4087-9F2D-5BFCFC407B2B/30/Where.cs" root0="SKIP_HIGHLIGHTING" />
-    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/8B2EA1A3-95EB-49F7-AF97-CA55CE776F10/4/Container.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/EB067793-5C3F-4219-AEF1-3AB117C20649/389/Comparer.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/EE5CA5D4-EDEB-48AE-9C0D-FE354330FB77/3d/c367b191/Coordinate3D.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
-    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/EE5CA5D4-EDEB-48AE-9C0D-FE354330FB77/14/12025305/MovementTypes.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/EE5CA5D4-EDEB-48AE-9C0D-FE354330FB77/0b/0953c23b/GraphFactory.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/EE5CA5D4-EDEB-48AE-9C0D-FE354330FB77/84/4eb9c798/GraphUtils.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/8B2EA1A3-95EB-49F7-AF97-CA55CE776F10/4/Container.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/EB067793-5C3F-4219-AEF1-3AB117C20649/B5/Random.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/1C5C65AB-6C84-402C-B333-F3A5A7121EFE/D/Queue.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
   </component>
   <component name="IdeDocumentHistory">
     <changedPaths>
@@ -95,34 +120,37 @@
       <option value="$PROJECT_DIR$/ConsoleApp/IVehicle.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMap.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/IHexMap.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/ISquareMap.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Vehicle/DetectionHead.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Vehicle/Vehicle.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Vehicle/VehicleConfiguration.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Vehicle/IVehicle.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Sim/DetectionHead.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/Cell.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/ICell.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/IPathPlanner.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/ConsoleApp.csproj" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Sim/Vehicle.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.json" />
       <option value="$PROJECT_DIR$/ConsoleApp/CoreModule.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Program.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/CellExtensions.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/MapExtensions.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Sim/IVehicle.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/IHexMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/IReactivePathPlanner.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/MineMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMineMap.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMapFactory.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/IReactivePathPlanner.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Sim/Vehicle.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.json" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Sim/DetectionHead.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Program.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/MineMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/plot.py" />
+      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/ReactivePathPlanner.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" />
     </changedPaths>
   </component>
   <component name="ProjectId" id="1lIZ7IfsUjzqV2Jb1obOFvGFAfp" />
@@ -140,7 +168,7 @@
     <property name="WebServerToolWindowFactoryState" value="false" />
     <property name="nodejs_package_manager_path" value="npm" />
     <property name="restartRequiresConfirmation" value="false" />
-    <property name="settings.editor.selected.configurable" value="project.propDebugger" />
+    <property name="settings.editor.selected.configurable" value="configurable.group.build" />
     <property name="vue.rearranger.settings.migration" value="true" />
   </component>
   <component name="RunManager" selected=".NET Project.ConsoleApp">
@@ -200,7 +228,7 @@
       <workItem from="1607982179018" duration="634000" />
       <workItem from="1607983288378" duration="86000" />
       <workItem from="1607983862958" duration="7777000" />
-      <workItem from="1607993290571" duration="36241000" />
+      <workItem from="1607993290571" duration="69552000" />
     </task>
     <servers />
   </component>
@@ -240,33 +268,18 @@
           </properties>
           <option name="timeStamp" value="24" />
         </line-breakpoint>
-        <line-breakpoint enabled="true" type="DotNet Breakpoints">
-          <url>file://$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs</url>
-          <line>87</line>
-          <properties documentPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" initialLine="87" containingFunctionPresentation="method 'GenerateOptimalHexPath'">
-            <startOffsets>
-              <option value="3651" />
-            </startOffsets>
-            <endOffsets>
-              <option value="3667" />
-            </endOffsets>
-          </properties>
-          <option name="timeStamp" value="44" />
-        </line-breakpoint>
-        <line-breakpoint enabled="true" type="DotNet Breakpoints">
-          <url>file://$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs</url>
-          <line>85</line>
-          <properties documentPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" initialLine="85" containingFunctionPresentation="method 'GenerateOptimalHexPath'">
-            <startOffsets>
-              <option value="3546" />
-            </startOffsets>
-            <endOffsets>
-              <option value="3612" />
-            </endOffsets>
-          </properties>
-          <option name="timeStamp" value="46" />
-        </line-breakpoint>
       </breakpoints>
     </breakpoint-manager>
+    <pin-to-top-manager>
+      <pinned-members>
+        <PinnedItemInfo parentTag="Frame#ConsoleApp.PathPlanners.PathPlanner.GenerateOptimalHexPath" memberName="path" />
+      </pinned-members>
+    </pin-to-top-manager>
+    <watches-manager>
+      <configuration name="DotNetProject">
+        <watch expression="new System.Collections.Generic.QueueDebugView&lt;HexCore.Coordinate2D&gt;(optimalPath).Items[0]" />
+        <watch expression="Math.Abs(nextOptimal.X - _vehicle.CurrentHexCell.X) &gt; 1 || Math.Abs(nextOptimal.Y - _vehicle.CurrentHexCell.Y) &gt; 1" language="C#" />
+      </configuration>
+    </watches-manager>
   </component>
 </project>
\ No newline at end of file
diff --git a/ConsoleApp/ConsoleApp.csproj b/ConsoleApp/ConsoleApp.csproj
index 6d8ae3b..3bc0189 100644
--- a/ConsoleApp/ConsoleApp.csproj
+++ b/ConsoleApp/ConsoleApp.csproj
@@ -22,6 +22,13 @@
       <None Update="Sim\VehicleConfiguration.json">
         <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
       </None>
+      <None Update="plot.py">
+        <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
+      </None>
+    </ItemGroup>
+
+    <ItemGroup>
+      <Folder Include="Output" />
     </ItemGroup>
 
 </Project>
diff --git a/ConsoleApp/Maps/HexMap.cs b/ConsoleApp/Maps/HexMap.cs
index bbb7b51..ffe61a4 100644
--- a/ConsoleApp/Maps/HexMap.cs
+++ b/ConsoleApp/Maps/HexMap.cs
@@ -17,6 +17,9 @@ namespace ConsoleApp.Maps
         
         public OffsetTypes OffsetType { get; }
         public MovementType DefaultMovement { get; }
+        public TerrainType ClearedTerrain { get; }
+
+        public TerrainType UnclearedTerrain { get; }
 
 
         /// <summary>
@@ -28,35 +31,28 @@ namespace ConsoleApp.Maps
         {
             //Set Offset Type for 2d -> 3d conversion
             OffsetType = OffsetTypes.OddRowsRight;
-            //convert to cm
-            x *= 100;
-            y *= 100;
-            
-            //calculate number of cells on x and y axis
-            var xCellCount = (int)Math.Ceiling((decimal) (x) / 25);
-            var yCellCount = (int)Math.Ceiling((decimal) (y) / 25);
 
-            Height = yCellCount;
-            Width = xCellCount;
+            Height = y;
+            Width = x;
             
-            var unclearedTerrain = new TerrainType(1, "uncleared");
-            var clearedTerrain = new TerrainType(2, "cleared");
+            UnclearedTerrain = new TerrainType(1, "uncleared");
+            ClearedTerrain = new TerrainType(2, "cleared");
             
             DefaultMovement = new MovementType(1, "default");
             var movementTypes = new MovementTypes(
-                new ITerrainType[] { unclearedTerrain, clearedTerrain }, 
+                new ITerrainType[] { UnclearedTerrain, ClearedTerrain }, 
                 new Dictionary<IMovementType, Dictionary<ITerrainType, int>>
                 {
                     [DefaultMovement] = new Dictionary<ITerrainType, int>
                     {
-                        [unclearedTerrain] = 1,
-                        [clearedTerrain] = 2
+                        [UnclearedTerrain] = 1,
+                        [ClearedTerrain] = 2
                     }
                 }
             );
-            Graph = GraphFactory.CreateRectangularGraph(Width, Height, movementTypes, unclearedTerrain);
+            Graph = GraphFactory.CreateRectangularGraph(Width, Height, movementTypes, UnclearedTerrain);
         }
 
-       
+
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/IHexMap.cs b/ConsoleApp/Maps/IHexMap.cs
index a979480..555868b 100644
--- a/ConsoleApp/Maps/IHexMap.cs
+++ b/ConsoleApp/Maps/IHexMap.cs
@@ -9,5 +9,7 @@ namespace ConsoleApp.Maps
         int Width { get; }
         int Height { get; }
         MovementType DefaultMovement { get; }
+        public TerrainType ClearedTerrain { get; }
+        public TerrainType UnclearedTerrain { get; }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/IMapFactory.cs b/ConsoleApp/Maps/IMapFactory.cs
index 59cd0d3..b369ba3 100644
--- a/ConsoleApp/Maps/IMapFactory.cs
+++ b/ConsoleApp/Maps/IMapFactory.cs
@@ -7,7 +7,6 @@ namespace ConsoleApp.Maps
     {
         int Height { get; }
         int Width { get; }
-        int CellWidth { get; }
         void GenerateMaps(int x, int y, double minePercentage);
         IHexMap GetHexMap();
         ISquareMap GetSquareMap();
diff --git a/ConsoleApp/Maps/IMineMap.cs b/ConsoleApp/Maps/IMineMap.cs
index b21ed22..5e66fff 100644
--- a/ConsoleApp/Maps/IMineMap.cs
+++ b/ConsoleApp/Maps/IMineMap.cs
@@ -3,5 +3,8 @@ namespace ConsoleApp.Maps
     public interface IMineMap
     {
         bool[,] Map { get; }
+        
+        int TotalBombs { get; }
+        bool GetCell(int x, int y);
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/MapExtensions.cs b/ConsoleApp/Maps/MapExtensions.cs
index 8a046b4..4e3e0ab 100644
--- a/ConsoleApp/Maps/MapExtensions.cs
+++ b/ConsoleApp/Maps/MapExtensions.cs
@@ -15,6 +15,5 @@ namespace ConsoleApp.Maps
                 }
             }
         }
-        
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/MapFactory.cs b/ConsoleApp/Maps/MapFactory.cs
index a7418dc..8d1d423 100644
--- a/ConsoleApp/Maps/MapFactory.cs
+++ b/ConsoleApp/Maps/MapFactory.cs
@@ -10,7 +10,6 @@ namespace ConsoleApp.Maps
         private int _defaultWidth;
         public int Height { get; protected set; }
         public int Width { get; protected set; }
-        public int CellWidth { get; }
         
 
         
@@ -22,11 +21,17 @@ namespace ConsoleApp.Maps
 
         public void GenerateMaps(int x, int y, double minePercentage)
         {
-            Width = x;
-            Height = y;
-            _squareMap = new SquareMap(x, y);
-            _hexMap = new HexMap(x, y);
-            _mineMap = new MineMap(x, y, minePercentage);
+            //convert to cm
+            x *= 100;
+            y *= 100;
+            //calculate number of cells on x and y axis
+            var xCellCount = (int)Math.Ceiling((decimal) (x) / 25);
+            var yCellCount = (int)Math.Ceiling((decimal) (y) / 25);
+            Width = xCellCount;
+            Height = yCellCount;
+            _squareMap = new SquareMap(xCellCount, yCellCount);
+            _hexMap = new HexMap(xCellCount, yCellCount);
+            _mineMap = new MineMap(xCellCount, yCellCount, minePercentage);
         }
         public IHexMap GetHexMap() => _hexMap ?? throw new NullReferenceException("hex map not initialized");
         public ISquareMap GetSquareMap() => _squareMap ?? throw new NullReferenceException("square map not initialized");
@@ -34,7 +39,6 @@ namespace ConsoleApp.Maps
 
         public MapFactory(IVehicle vehicle)
         {
-            CellWidth = vehicle.Width/2;
             _defaultHeight = 0;
             _defaultWidth = 0;
             Height = _defaultHeight;
diff --git a/ConsoleApp/Maps/MineMap.cs b/ConsoleApp/Maps/MineMap.cs
index bd2b8b1..c157a45 100644
--- a/ConsoleApp/Maps/MineMap.cs
+++ b/ConsoleApp/Maps/MineMap.cs
@@ -1,5 +1,7 @@
 using System;
 using System.Collections.Generic;
+using System.IO;
+using HexCore;
 
 namespace ConsoleApp.Maps
 {
@@ -9,24 +11,44 @@ namespace ConsoleApp.Maps
         private int _x;
         private int _y;
         public bool[,] Map { get; }
+        public int TotalBombs { get; }
+        private List<Cell> _placedMines;
+
         public MineMap(int x, int y, double minePercentage)
         {
             _x = x;
             _y = y;
-            _mineCount = x*y*((int)minePercentage/100);
+            _placedMines = new List<Cell>();
+            _mineCount = (int)(x*y*(minePercentage/100));
+            TotalBombs = _mineCount;
             Map = new bool[x, y];
             Map.Fill2DArray(false);
             PlaceMines();
+            using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/Mines.txt"))
+            {
+                foreach (var s in _placedMines)
+                    tw.WriteLine($"{s.X} {s.Y}");
+            }
         }
+        public bool GetCell(int x, int y) => Map[x,y];
+
 
         private void PlaceMines()
         {
             var rand = new Random();
-            for (int i = 0; i < _mineCount; i++)
+            for (var i = 0; i < _mineCount; i++) 
             {
-                var x = rand.Next(_x);
-                var y = rand.Next(_y);
-                Map[x, y] = true;
+                var x = rand.Next(5,_x-5);
+                var y = rand.Next(5,_y-5);
+                if (Map[x, y] == true)
+                {
+                    i--;
+                }
+                else
+                {
+                    Map[x, y] = true;
+                    _placedMines.Add(new Cell(x,y));
+                }
             }
         }
     }
diff --git a/ConsoleApp/Maps/SquareMap.cs b/ConsoleApp/Maps/SquareMap.cs
index 3ad78b6..2c92e55 100644
--- a/ConsoleApp/Maps/SquareMap.cs
+++ b/ConsoleApp/Maps/SquareMap.cs
@@ -19,26 +19,21 @@ namespace ConsoleApp.Maps
         /// <param name="y"></param>
         public SquareMap(int x, int y)
         {
-            //convert to cm
-            x *= 100;
-            y *= 100;
-            //calculate number of cells on x and y axis
-            var xCellCount = (int)Math.Ceiling((decimal) (x) / 25);
-            var yCellCount = (int)Math.Ceiling((decimal) (y) / 25);
+  
             
             //set Width and height Properties
-            Width = xCellCount-1;
-            Height = yCellCount-1;
+            Width = x-1;
+            Height = y-1;
 
             
             //Initialize Map
-            Map = new Cell[xCellCount, yCellCount];
+            Map = new Cell[x, y];
 
             //set last cell;
             StartingCell = Map[0, 0];
-            for (int i = 0; i < xCellCount; i++)
+            for (int i = 0; i < x; i++)
             {
-                for (int j = 0; j < yCellCount; j++)
+                for (int j = 0; j < y; j++)
                 {
                     Map[i,j] = new Cell(i, j);
                 }
diff --git a/ConsoleApp/Output/DetectedMines.txt b/ConsoleApp/Output/DetectedMines.txt
new file mode 100644
index 0000000..cc278b8
--- /dev/null
+++ b/ConsoleApp/Output/DetectedMines.txt
@@ -0,0 +1,7 @@
+8 5
+8 6
+5 11
+9 10
+13 9
+13 14
+10 13
diff --git a/ConsoleApp/Output/Mines.txt b/ConsoleApp/Output/Mines.txt
new file mode 100644
index 0000000..a2cd0e2
--- /dev/null
+++ b/ConsoleApp/Output/Mines.txt
@@ -0,0 +1,8 @@
+5 11
+8 6
+13 14
+9 10
+13 9
+10 13
+10 6
+8 5
diff --git a/ConsoleApp/Output/SavedList.txt b/ConsoleApp/Output/SavedList.txt
new file mode 100644
index 0000000..1c83a93
--- /dev/null
+++ b/ConsoleApp/Output/SavedList.txt
@@ -0,0 +1,150 @@
+0 0
+1 0
+2 0
+3 0
+4 0
+5 0
+6 0
+7 0
+8 0
+9 0
+10 0
+11 0
+12 0
+13 0
+14 0
+15 0
+16 0
+17 0
+18 0
+19 0
+19 1
+19 2
+19 3
+18 3
+17 3
+16 3
+15 3
+14 3
+13 3
+12 3
+11 3
+10 3
+9 3
+9 2
+8 2
+7 2
+6 3
+5 3
+4 3
+3 3
+2 3
+1 3
+0 3
+1 4
+0 5
+0 6
+1 6
+2 6
+3 6
+4 6
+5 6
+6 6
+5 7
+6 8
+6 9
+7 9
+14 6
+15 6
+16 6
+17 6
+18 6
+19 6
+19 7
+19 8
+19 9
+18 9
+17 9
+16 9
+15 9
+16 10
+15 11
+15 12
+14 12
+15 12
+15 13
+16 14
+15 15
+15 16
+14 17
+13 17
+12 17
+11 17
+11 16
+10 15
+10 16
+9 16
+8 15
+8 14
+7 13
+6 14
+5 14
+4 14
+3 13
+3 12
+2 11
+3 10
+3 9
+1 9
+0 9
+1 10
+0 11
+0 12
+1 12
+2 12
+3 12
+3 13
+4 14
+4 15
+5 16
+5 17
+6 17
+7 17
+8 17
+9 17
+10 17
+11 17
+12 17
+13 17
+14 17
+15 16
+15 15
+16 14
+15 13
+15 12
+17 12
+18 12
+19 12
+19 13
+19 14
+19 15
+18 15
+17 15
+16 15
+15 15
+15 16
+14 17
+13 17
+12 17
+11 17
+11 16
+10 16
+9 16
+8 15
+6 15
+5 15
+4 15
+3 15
+2 15
+1 15
+0 15
diff --git a/ConsoleApp/Output/test.png b/ConsoleApp/Output/test.png
new file mode 100644
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literal 0
HcmV?d00001

diff --git a/ConsoleApp/PathPlanners/IReactivePathPlanner.cs b/ConsoleApp/PathPlanners/IReactivePathPlanner.cs
index 68375a1..404d781 100644
--- a/ConsoleApp/PathPlanners/IReactivePathPlanner.cs
+++ b/ConsoleApp/PathPlanners/IReactivePathPlanner.cs
@@ -1,4 +1,5 @@
 using System.Collections.Generic;
+using ConsoleApp.Maps;
 using HexCore;
 
 namespace ConsoleApp.PathPlanners
@@ -6,5 +7,6 @@ namespace ConsoleApp.PathPlanners
     public interface IReactivePathPlanner
     {
         Queue<Coordinate2D> ReactiveHexPath { get; }
+        void GenerateReactiveHexPath(IHexMap hexMap, Queue<Coordinate2D> optimalPath, Coordinate2D vehicleCurrentHexCell);
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/PathPlanners/PathPlanner.cs b/ConsoleApp/PathPlanners/PathPlanner.cs
index 5f50a66..d195b27 100644
--- a/ConsoleApp/PathPlanners/PathPlanner.cs
+++ b/ConsoleApp/PathPlanners/PathPlanner.cs
@@ -55,7 +55,7 @@ namespace ConsoleApp.PathPlanners
 
             return path;
         }
-        
+
         public Queue<Coordinate2D> GenerateOptimalHexPath(IHexMap hexMap, IVehicle vehicle)
         {
             var currentPostion = vehicle.CurrentHexCell;
@@ -64,55 +64,44 @@ namespace ConsoleApp.PathPlanners
             var path = new List<Coordinate2D>();
             while (!finished)
             {
+                //Heading East
                 if (currentHeading == GlobalDirection.East)
                 {
                     path.AddRange(hexMap.Graph.GetShortestPath(
                         currentPostion,
-                        new Coordinate2D(hexMap.Width, currentPostion.Y, hexMap.OffsetType),
+                        new Coordinate2D(hexMap.Width-1, currentPostion.Y, hexMap.OffsetType),
                         hexMap.DefaultMovement));
-                    currentPostion = new Coordinate2D(hexMap.Width, currentPostion.Y, hexMap.OffsetType);
+                    currentPostion = new Coordinate2D(hexMap.Width-1, currentPostion.Y, hexMap.OffsetType);
                 }
-                
-                else if(currentHeading == GlobalDirection.West)
+                //Heading West
+                else if (currentHeading == GlobalDirection.West)
                 {
                     path.AddRange(hexMap.Graph.GetShortestPath(
                         currentPostion,
                         new Coordinate2D(0, currentPostion.Y, hexMap.OffsetType),
                         hexMap.DefaultMovement));
                     currentPostion = new Coordinate2D(0, currentPostion.Y, hexMap.OffsetType);
-                    
+                
                 }
 
-                if (currentPostion.Y + vehicle.DetectorRadius * 2 > hexMap.Height)
+                //Check for finish
+                if (currentPostion.Y + (vehicle.DetectorRadius * 2) >= hexMap.Height - 1)
                 {
                     finished = true;
                     break;
                 }
 
-                Coordinate2D tmpPosition;
-                    if(currentHeading == GlobalDirection.East) 
-                        tmpPosition = new Coordinate3D(
-                            currentPostion.To3D().X-1, 
-                            currentPostion.To3D().Y,
-                            currentPostion.To3D().Z+1).To2D(hexMap.OffsetType);
-                    else
-                        tmpPosition = new Coordinate3D(
-                            currentPostion.To3D().X, 
-                            currentPostion.To3D().Y-1,
-                            currentPostion.To3D().Z+1).To2D(hexMap.OffsetType);
-                while (hexMap.Graph.GetRange(currentPostion, vehicle.DetectorRadius*2).Contains(tmpPosition))
+                //Move Up edges of map
+                var tmpPosition = currentPostion;
+                var range = hexMap.Graph.GetRange(currentPostion, vehicle.DetectorRadius * 2);
+                for (var i = currentPostion.Y; i < currentPostion.Y + vehicle.DetectorRadius * 2; i++)
                 {
-                    if(currentHeading == GlobalDirection.East) 
-                        tmpPosition = new Coordinate3D(
-                            tmpPosition.To3D().X-1, 
-                            tmpPosition.To3D().Y,
-                            tmpPosition.To3D().Z+1).To2D(hexMap.OffsetType);
-                    else
-                        tmpPosition = new Coordinate3D(
-                            tmpPosition.To3D().X, 
-                            tmpPosition.To3D().Y-1,
-                            tmpPosition.To3D().Z+1).To2D(hexMap.OffsetType);
+                    var newCoord = new Coordinate2D(currentPostion.X, i, hexMap.OffsetType);
+                    if (range.Contains(newCoord))
+                        tmpPosition = newCoord;
+                   
                 }
+                
                 path.AddRange(hexMap.Graph.GetShortestPath(
                     currentPostion,
                     tmpPosition,
@@ -122,9 +111,11 @@ namespace ConsoleApp.PathPlanners
                     currentHeading = GlobalDirection.West;
                 else
                     currentHeading = GlobalDirection.East;
-
-
+                
+                
+               
             }
+
             return new Queue<Coordinate2D>(path);
         }
     }
diff --git a/ConsoleApp/PathPlanners/ReactivePathPlanner.cs b/ConsoleApp/PathPlanners/ReactivePathPlanner.cs
index a77e9b2..258bd4d 100644
--- a/ConsoleApp/PathPlanners/ReactivePathPlanner.cs
+++ b/ConsoleApp/PathPlanners/ReactivePathPlanner.cs
@@ -1,20 +1,44 @@
 using System.Collections.Generic;
+using ConsoleApp.Maps;
 using HexCore;
 
 namespace ConsoleApp.PathPlanners
 {
     public class ReactivePathPlanner : IReactivePathPlanner
     {
-        public Queue<Coordinate2D> ReactiveHexPath { get; }
+        private Queue<Coordinate2D> _reactiveHexPath;
+        public Queue<Coordinate2D> ReactiveHexPath => _reactiveHexPath;
+        
 
         public ReactivePathPlanner()
         {
-            ReactiveHexPath = new Queue<Coordinate2D>();
+            _reactiveHexPath = new Queue<Coordinate2D>();
         }
-
-        public void GenerateReactiveHexPath(Graph graph, ref List<Coordinate3D> optimalPath, Coordinate2D minePosition)
+        public void GenerateReactiveHexPath(IHexMap hexMap, Queue<Coordinate2D> optimalPath,
+            Coordinate2D vehicleCurrentHexCell)
         {
+            //Clean out any old path
+            _reactiveHexPath.Clear();
             
+            //If the optimal path is empty well we are done, otherwise pop 1
+            if (!optimalPath.TryDequeue(out var convergentPoint))
+                return;
+
+            //Dequeue until the cell is not blocked
+            while (hexMap.Graph.IsCellBlocked(convergentPoint))
+            {
+                //if optimal path is empty were done and we can not clear around this position, otherwise
+                //lest pop another.
+                if (!optimalPath.TryDequeue(out convergentPoint))
+                    return;
+            }
+
+            var reactivePath = hexMap.Graph.GetShortestPath(vehicleCurrentHexCell, convergentPoint, hexMap.DefaultMovement);
+            foreach (var node in reactivePath)
+            {
+                _reactiveHexPath.Enqueue(node);
+            }
         }
+       
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Program.cs b/ConsoleApp/Program.cs
index 4cc3a51..625b13b 100644
--- a/ConsoleApp/Program.cs
+++ b/ConsoleApp/Program.cs
@@ -1,4 +1,8 @@
 using System;
+using System.Diagnostics;
+using System.IO;
+using System.Reflection;
+using System.Threading;
 using ConsoleApp.Maps;
 
 namespace ConsoleApp
@@ -13,9 +17,33 @@ namespace ConsoleApp
             _bootstrapper = BootStrapper.BootstrapSystem(new CoreModule());
             _userConsole = new UserConsole();
             Initialization();
+            GenerateImages();
             Console.WriteLine("Program Completed");
         }
 
+        private static void GenerateImages()
+        {
+            // var generateMap= "python3 ConsoleApp/plot.py";
+            // System.Diagnostics.Process.Start("CMD.exe",generateMap);
+            //
+            var file = Path.Combine("./",Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location), @"plot.py");
+            ProcessStartInfo startInfo = new ProcessStartInfo()
+            {
+                FileName = "python3",
+                Arguments = file,
+                UseShellExecute = true
+            };
+            Process proc = new Process()
+            {
+                StartInfo = startInfo,
+            };
+            proc.Start();
+            while (!proc.HasExited)
+            {
+                Thread.Sleep(500);
+            }
+        }
+
         private static void Initialization()
         {
             _userConsole.PrintStartMenu();
diff --git a/ConsoleApp/Sim/DetectionHead.cs b/ConsoleApp/Sim/DetectionHead.cs
index a510d3c..f9d4c12 100644
--- a/ConsoleApp/Sim/DetectionHead.cs
+++ b/ConsoleApp/Sim/DetectionHead.cs
@@ -10,7 +10,16 @@ namespace ConsoleApp.Sim
             Graph graph,
             Coordinate2D centerCoordinate,
             int detectorRadius,
-            GlobalDirection direction) => graph.GetRange(centerCoordinate, detectorRadius);
+            int vehicleTurnRadius)
+        {
+            var detectorCells = graph.GetRange(centerCoordinate, detectorRadius);
+            // var vehicleCells = graph.GetRange(centerCoordinate, vehicleTurnRadius);
+            // foreach (var vehicleCell in vehicleCells)
+            // {
+            //     detectorCells.Remove(vehicleCell);
+            // }
+            return detectorCells;
+        }
 
         public static List<Cell> GetCoveredCells(
             ISquareMap squareMap,
diff --git a/ConsoleApp/Sim/IVehicle.cs b/ConsoleApp/Sim/IVehicle.cs
index 3db6ae0..95c1a01 100644
--- a/ConsoleApp/Sim/IVehicle.cs
+++ b/ConsoleApp/Sim/IVehicle.cs
@@ -1,4 +1,5 @@
 using ConsoleApp.Maps;
+using HexCore;
 
 namespace ConsoleApp.Sim
 {
@@ -6,11 +7,9 @@ namespace ConsoleApp.Sim
     {
         int Length { get; }
         int Width { get; }
-        int DetectorOffset { get;}
+        int TurnRadius { get; }
         int DetectorRadius { get;}
-        HexCore.Coordinate2D CurrentHexCell { get; set; }
-        Heading HexHeading { get; set; }
-        Heading SquareHeading { get; set; }
+        Coordinate2D CurrentHexCell { get; set; }
         ICell CurrentSquareCell { get; set; }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Sim/Vehicle.cs b/ConsoleApp/Sim/Vehicle.cs
index e4cc62d..e1424a2 100644
--- a/ConsoleApp/Sim/Vehicle.cs
+++ b/ConsoleApp/Sim/Vehicle.cs
@@ -1,3 +1,5 @@
+using System;
+using System.Collections.Generic;
 using ConsoleApp.Maps;
 
 namespace ConsoleApp.Sim
@@ -6,12 +8,9 @@ namespace ConsoleApp.Sim
     {
         public int Length { get; }
         public int Width { get; }
-
-        public int DetectorOffset { get;}
+        public int TurnRadius { get; }
         public int DetectorRadius { get;}
         public HexCore.Coordinate2D CurrentHexCell { get; set; }
-        public Heading HexHeading { get; set; }
-        public Heading SquareHeading { get; set; }
         public ICell CurrentSquareCell { get; set; }
         
         
@@ -20,12 +19,17 @@ namespace ConsoleApp.Sim
         public Vehicle(IJsonDeserializor jsonDeserializor)
         {
             var config = jsonDeserializor.DeserializeObject<VehicleConfiguration>("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Sim/VehicleConfiguration.json");
-            Length = config.Length;
-            Width = config.Width;
-            DetectorRadius = config.DetectorRadius;
-            DetectorOffset = config.DetectorOffset;
-            CurrentHexCell = default;
-            CurrentSquareCell = default;
+            var length = config.Length;
+            length *= 100;
+            Length = (int)Math.Ceiling((decimal)length/ 25);
+            var width = config.Width;
+            width *= 100;
+            Width = (int)Math.Ceiling((decimal)width/ 25);
+            DetectorRadius = (int)Math.Floor(((decimal)config.DetectorRadius * 100)/25)/2;
+            TurnRadius = (int)Math.Ceiling(Math.Sqrt(Math.Pow(config.Length, 2) * Math.Pow(config.Width, 2))/2);
+            // if (DetectorRadius <= TurnRadius)
+            //     throw new ArgumentException("Detection radius must be larger than the vehicle turn radius");
+
         }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Sim/VehicleConfiguration.cs b/ConsoleApp/Sim/VehicleConfiguration.cs
index 74c2b50..91b47a0 100644
--- a/ConsoleApp/Sim/VehicleConfiguration.cs
+++ b/ConsoleApp/Sim/VehicleConfiguration.cs
@@ -5,6 +5,5 @@ namespace ConsoleApp.Sim
         public int Length { get; set; }
         public int Width { get; set; }
         public int DetectorRadius { get; set; }
-        public int DetectorOffset { get; set; }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Sim/VehicleConfiguration.json b/ConsoleApp/Sim/VehicleConfiguration.json
index adb580b..8db1cfd 100644
--- a/ConsoleApp/Sim/VehicleConfiguration.json
+++ b/ConsoleApp/Sim/VehicleConfiguration.json
@@ -1,6 +1,5 @@
 {
-  "Length": 3,
-  "Width": 2,
-  "DetectorRadius": 3,
-  "DetectorOffset": 2
-}
\ No newline at end of file
+  "Length": 1,
+  "Width": 1,
+  "DetectorRadius": 1
+}
diff --git a/ConsoleApp/SimRunner.cs b/ConsoleApp/SimRunner.cs
index be04c2d..647a15c 100644
--- a/ConsoleApp/SimRunner.cs
+++ b/ConsoleApp/SimRunner.cs
@@ -1,11 +1,16 @@
 using System;
 using System.Collections.Generic;
+using System.IO;
+using System.Linq;
+using System.Net;
 using System.Threading;
 using System.Threading.Tasks;
 using ConsoleApp.Maps;
 using ConsoleApp.PathPlanners;
 using ConsoleApp.Sim;
 using HexCore;
+using ImTools;
+using Microsoft.VisualBasic;
 
 namespace ConsoleApp
 {
@@ -14,16 +19,15 @@ namespace ConsoleApp
         private IMapFactory _mapFactory;
         private IVehicle _vehicle;
 
-        private int _cellWidth;
         private IPathPlanner _pathPlanner;
         private IMineMap _mineMap;
         private IReactivePathPlanner _reactivePathPlanner;
+        private HashSet<Coordinate2D> hexBombsFound = new HashSet<Coordinate2D>();
+        private List<Coordinate2D> testingPath = new List<Coordinate2D>();
 
 
         public SimRunner(IMapFactory mapFactory, IVehicle vehicle, IPathPlanner pathPlanner, IReactivePathPlanner reactivePathPlanner)
         {
-           
-            _cellWidth = mapFactory.CellWidth;
             _mapFactory = mapFactory;
             _vehicle = vehicle;
             _pathPlanner = pathPlanner;
@@ -44,9 +48,123 @@ namespace ConsoleApp
             var hexMap = _mapFactory.GetHexMap();
             _vehicle.CurrentHexCell = new Coordinate2D(0, 0, OffsetTypes.OddRowsRight);
             var optimalPath = _pathPlanner.GenerateOptimalHexPath(hexMap, _vehicle);
-            var reactivePath = _reactivePathPlanner.ReactiveHexPath;
+            var minimumMoves = optimalPath.Count;
+            var finished = false;
+            var totalMoves = 0;
+            while (!finished)
+            {
+                totalMoves += 1;
+                testingPath.Add(_vehicle.CurrentHexCell);
+
+                var detectionCells = DetectionHead.GetCoveredCells(hexMap.Graph, _vehicle.CurrentHexCell, _vehicle.DetectorRadius, _vehicle.TurnRadius);
+                //Check Cells for mine
+                var detection = CheckCells(detectionCells);
+                //mark as cleared
+                hexMap.Graph.SetCellsTerrainType(detectionCells, hexMap.ClearedTerrain);
+                //Handle any detections
+                if (detection)
+                {
+                    _reactivePathPlanner.GenerateReactiveHexPath(hexMap, optimalPath, _vehicle.CurrentHexCell);
+                }
+                
+                //If the reactive Planner is not empty, empty it before the optimal.
+                if (_reactivePathPlanner.ReactiveHexPath.TryDequeue(out var next))
+                    _vehicle.CurrentHexCell = next;
+                //Else we will work off of the optimal path
+                else
+                {
+                    //If the optimal path is empty we are done otherwise pop.
+                    if (!optimalPath.TryDequeue(out var nextOptimal))
+                    {
+                        finished = true;
+                        break;
+                    }
+
+                    var replan = false;
+                    //if the next optimal cell is blocked then we need to replan around it.
+                    while (hexMap.Graph.IsCellBlocked(nextOptimal))
+                    {
+                        replan = true;
+                        if (optimalPath.TryDequeue(out nextOptimal)) continue;
+                        finished = true;
+                        break;
+                    }
+                    if(replan)
+                    {
+                        var tmpPath =
+                            hexMap.Graph.GetShortestPath(_vehicle.CurrentHexCell, nextOptimal, hexMap.DefaultMovement);
+                        if (Math.Abs(_vehicle.CurrentHexCell.X - nextOptimal.X) > 1 || Math.Abs(_vehicle.CurrentHexCell.Y - nextOptimal.Y) > 1)
+                            optimalPath.Dequeue();
+                        tmpPath.AddRange(optimalPath);
+                        
+                        optimalPath.Clear();
+                        foreach (var cell in tmpPath)
+                        {
+                            optimalPath.Enqueue(cell);
+                        }
+                        optimalPath.TryDequeue(out nextOptimal);
+                    }
+
+                    var last = testingPath[testingPath.Count-1];
+                    if (Math.Abs(last.X - nextOptimal.X) > 1 || Math.Abs(last.Y - nextOptimal.Y) > 1)
+                        Console.WriteLine("To big of a gap");
+                  
+                    _vehicle.CurrentHexCell = nextOptimal;
+                }
+            }
+            
+            
+            //Debugging information
+            using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/SavedList.txt"))
+            {
+                foreach (Coordinate2D s in testingPath)
+                    tw.WriteLine($"{s.X} {s.Y}");
+            }
+            using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/DetectedMines.txt"))
+            {
+                foreach (Coordinate2D s in hexBombsFound)
+                    tw.WriteLine($"{s.X} {s.Y}");
+            }
+            var covered = CoveredCells();
+            Console.WriteLine($"Total cells traversed: {totalMoves} \n" +
+                              $"Minimum required: {minimumMoves}");
+            Console.WriteLine($"Total bombs found: {hexBombsFound.Count}/{_mineMap.TotalBombs}");
+            
         }
-        
+
+        private int CoveredCells()
+        {
+            var hexMap = _mapFactory.GetHexMap();
+            //for()
+            return 0;
+        }
+
+
+        private bool CheckCells(List<Coordinate2D> detectionCells)
+        {
+            var found = false;
+            foreach (var cell in detectionCells.Where(cell => _mineMap.GetCell(cell.X, cell.Y)))
+            {
+                if (!hexBombsFound.Add(cell)) continue;
+                BlockCells(cell);
+                found = true;
+            }
+            return found;
+        }
+
+        private void BlockCells(Coordinate2D cell)
+        {
+            var hexMap = _mapFactory.GetHexMap();
+            var cellsToBlock = hexMap.Graph.GetRange(cell, _vehicle.Width / 2);
+            hexMap.Graph.BlockCells(cellsToBlock);
+            
+            // //debugging
+            // foreach (var celllll in cellsToBlock)
+            // {
+            //     Console.WriteLine($"({celllll.X}, {celllll.Y}) Blocked: {hexMap.Graph.GetCellState(celllll).IsBlocked}");    
+            // }
+        }
+
 
         private void SquareSimulation()
         {
diff --git a/ConsoleApp/UserConsole.cs b/ConsoleApp/UserConsole.cs
index f59b44e..1eae039 100644
--- a/ConsoleApp/UserConsole.cs
+++ b/ConsoleApp/UserConsole.cs
@@ -22,9 +22,9 @@ namespace ConsoleApp
 
         public static void PrintInvalidInput() => Console.WriteLine($"Invalid input try again \n");
 
-            public (int width, int height) GetMapDimensions()
+        public (int width, int height) GetMapDimensions()
         {
-            Console.WriteLine($"Enter map height: ");
+            Console.WriteLine($"Enter map width: ");
             var x = GetUserInput();
 
             if (!int.TryParse(x, out var width))
diff --git a/ConsoleApp/plot.py b/ConsoleApp/plot.py
new file mode 100644
index 0000000..bf2fd78
--- /dev/null
+++ b/ConsoleApp/plot.py
@@ -0,0 +1,39 @@
+import numpy as np
+import matplotlib.pyplot as plt
+import matplotlib
+
+
+if __name__ == "__main__":
+    xc = []
+    yc = []
+    xm = []
+    ym = []
+    xf = []
+    yf = []
+    with open("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/SavedList.txt") as c:
+        for line in c:
+            x, y = line.split()
+            xc.append(int(x))
+            yc.append(int(y))
+
+    with open("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/Mines.txt") as m:
+        for line in m:
+            x, y = line.split()
+            xm.append(int(x))
+            ym.append(int(y))
+
+    with open("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/DetectedMines.txt") as f:
+        for line in f:
+            x, y = line.split()
+            xf.append(int(x))
+            yf.append(int(y))
+    fig = plt.figure()
+    plt.plot(xc, yc)
+    plt.plot(xc, yc, 'o', label='vehicle',  color='blue')
+    plt.plot(xm, ym, 'o', label='all mines', color='red')
+    plt.plot(xf, yf, 'o', label='detected mines', color='orange')
+    plt.title('test 9')
+    plt.legend(loc='lower left', fontsize='xx-small')
+
+    matplotlib.pyplot.savefig('/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/test.png')
+    plt.close(fig)
\ No newline at end of file

From e8ffbd31518776de996b7bb1afd73bc85027ef3e Mon Sep 17 00:00:00 2001
From: Brady Bodily <bradybod@gmail.com>
Date: Wed, 16 Dec 2020 04:50:21 -0700
Subject: [PATCH 2/2] Hex is done and working

---
 .../.idea/contentModel.xml                    |  12 +-
 .../.idea.RobotIntelFinal/.idea/workspace.xml |  38 +-
 ConsoleApp/ConsoleApp.csproj                  |   2 +-
 ConsoleApp/CoreModule.cs                      |   1 +
 ConsoleApp/{plot.py => HexPlot.py}            |   8 +-
 ConsoleApp/ISimulationResults.cs              |  19 +
 ConsoleApp/Maps/IMineMap.cs                   |   3 +
 ConsoleApp/Maps/MineMap.cs                    |  12 +-
 ConsoleApp/Output/Data.txt                    |   7 +
 ConsoleApp/Output/DetectedMines.txt           |   7 -
 ConsoleApp/Output/HexDetectedMines.txt        |   0
 ConsoleApp/Output/HexPath.txt                 | 927 ++++++++++++++++++
 ConsoleApp/Output/HexTest.png                 | Bin 0 -> 34618 bytes
 ConsoleApp/Output/Mines.txt                   |   8 -
 ConsoleApp/Output/SavedList.txt               | 150 ---
 ConsoleApp/Output/test.png                    | Bin 31871 -> 0 bytes
 ConsoleApp/Program.cs                         |  26 +-
 ConsoleApp/SimRunner.cs                       |  81 +-
 ConsoleApp/SimulationResults.cs               | 104 ++
 19 files changed, 1123 insertions(+), 282 deletions(-)
 rename ConsoleApp/{plot.py => HexPlot.py} (85%)
 create mode 100644 ConsoleApp/ISimulationResults.cs
 create mode 100644 ConsoleApp/Output/Data.txt
 delete mode 100644 ConsoleApp/Output/DetectedMines.txt
 create mode 100644 ConsoleApp/Output/HexDetectedMines.txt
 create mode 100644 ConsoleApp/Output/HexPath.txt
 create mode 100644 ConsoleApp/Output/HexTest.png
 delete mode 100644 ConsoleApp/Output/Mines.txt
 delete mode 100644 ConsoleApp/Output/SavedList.txt
 delete mode 100644 ConsoleApp/Output/test.png
 create mode 100644 ConsoleApp/SimulationResults.cs

diff --git a/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml b/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
index 94ec944..8bae461 100644
--- a/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
+++ b/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
@@ -7,9 +7,11 @@
         <e p="Bootstrapper.cs" t="Include" />
         <e p="ConsoleApp.csproj" t="IncludeRecursive" />
         <e p="CoreModule.cs" t="Include" />
+        <e p="HexPlot.py" t="Include" />
         <e p="IJsonDeserializor.cs" t="Include" />
         <e p="IModule.cs" t="Include" />
         <e p="ISimRunner.cs" t="Include" />
+        <e p="ISimulationResults.cs" t="Include" />
         <e p="IUserConsole.cs" t="Include" />
         <e p="JsonDeserializor.cs" t="Include" />
         <e p="Maps" t="Include">
@@ -35,10 +37,10 @@
           </e>
         </e>
         <e p="Output" t="Include">
-          <e p="DetectedMines.txt" t="Include" />
-          <e p="Mines.txt" t="Include" />
-          <e p="SavedList.txt" t="Include" />
-          <e p="test.png" t="Include" />
+          <e p="Data.txt" t="Include" />
+          <e p="HexDetectedMines.txt" t="Include" />
+          <e p="HexPath.txt" t="Include" />
+          <e p="HexTest.png" t="Include" />
         </e>
         <e p="PathPlanners" t="Include">
           <e p="IPathPlanner.cs" t="Include" />
@@ -46,7 +48,6 @@
           <e p="PathPlanner.cs" t="Include" />
           <e p="ReactivePathPlanner.cs" t="Include" />
         </e>
-        <e p="plot.py" t="Include" />
         <e p="Program.cs" t="Include" />
         <e p="Sim" t="Include">
           <e p="DetectionHead.cs" t="Include" />
@@ -56,6 +57,7 @@
           <e p="VehicleConfiguration.json" t="Include" />
         </e>
         <e p="SimRunner.cs" t="Include" />
+        <e p="SimulationResults.cs" t="Include" />
         <e p="UserConsole.cs" t="Include" />
       </e>
       <e p="packages" t="ExcludeRecursive" />
diff --git a/.idea/.idea.RobotIntelFinal/.idea/workspace.xml b/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
index 8de59d7..9ff8581 100644
--- a/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
+++ b/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
@@ -18,29 +18,21 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="dafcaeb7-80aa-43a3-a480-786fafb78c0b" name="Default Changelist" comment="">
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/plot.py" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/ConsoleApp/ISimulationResults.cs" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/ConsoleApp/SimulationResults.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/.idea/.idea.RobotIntelFinal/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/.idea.RobotIntelFinal/.idea/workspace.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/ConsoleApp.csproj" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/ConsoleApp.csproj" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/IHexMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/IHexMap.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/IMapFactory.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/IMapFactory.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/CoreModule.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/CoreModule.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/IMineMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/IMineMap.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/MapExtensions.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/MapExtensions.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/MineMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/MineMap.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/PathPlanners/IReactivePathPlanner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/IReactivePathPlanner.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/PathPlanners/ReactivePathPlanner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/ReactivePathPlanner.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Output/DetectedMines.txt" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/DetectedMines.txt" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Output/Mines.txt" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/Mines.txt" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Output/SavedList.txt" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/SavedList.txt" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Output/test.png" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/test.png" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/Program.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Program.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Sim/DetectionHead.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/DetectionHead.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Sim/IVehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/IVehicle.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Sim/Vehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/Vehicle.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.json" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.json" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/plot.py" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/HexPlot.py" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -129,7 +121,6 @@
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/ICell.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/IPathPlanner.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/ConsoleApp.csproj" />
-      <option value="$PROJECT_DIR$/ConsoleApp/CoreModule.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/CellExtensions.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/MapExtensions.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Sim/IVehicle.cs" />
@@ -138,19 +129,22 @@
       <option value="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMineMap.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMapFactory.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Sim/Vehicle.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.json" />
       <option value="$PROJECT_DIR$/ConsoleApp/Sim/DetectionHead.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Program.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/MineMap.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/plot.py" />
       <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/ReactivePathPlanner.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/CoreModule.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/plot.py" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/MineMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMineMap.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/ISimulationResults.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Program.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/SimulationResults.cs" />
     </changedPaths>
   </component>
   <component name="ProjectId" id="1lIZ7IfsUjzqV2Jb1obOFvGFAfp" />
@@ -228,7 +222,7 @@
       <workItem from="1607982179018" duration="634000" />
       <workItem from="1607983288378" duration="86000" />
       <workItem from="1607983862958" duration="7777000" />
-      <workItem from="1607993290571" duration="69552000" />
+      <workItem from="1607993290571" duration="72449000" />
     </task>
     <servers />
   </component>
diff --git a/ConsoleApp/ConsoleApp.csproj b/ConsoleApp/ConsoleApp.csproj
index 3bc0189..f73aec2 100644
--- a/ConsoleApp/ConsoleApp.csproj
+++ b/ConsoleApp/ConsoleApp.csproj
@@ -22,7 +22,7 @@
       <None Update="Sim\VehicleConfiguration.json">
         <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
       </None>
-      <None Update="plot.py">
+      <None Update="HexPlot.py">
         <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
       </None>
     </ItemGroup>
diff --git a/ConsoleApp/CoreModule.cs b/ConsoleApp/CoreModule.cs
index e0e2585..0db5b04 100644
--- a/ConsoleApp/CoreModule.cs
+++ b/ConsoleApp/CoreModule.cs
@@ -15,6 +15,7 @@ namespace ConsoleApp
             container.Register<IJsonDeserializor, JsonDeserializor>(Reuse.Singleton);
             container.Register<IPathPlanner, PathPlanner>(Reuse.Singleton);
             container.Register<IReactivePathPlanner, ReactivePathPlanner>(Reuse.Singleton);
+            container.Register<ISimulationResults, SimulationResults>(Reuse.Singleton);
         }
         
 
diff --git a/ConsoleApp/plot.py b/ConsoleApp/HexPlot.py
similarity index 85%
rename from ConsoleApp/plot.py
rename to ConsoleApp/HexPlot.py
index bf2fd78..a10fbe8 100644
--- a/ConsoleApp/plot.py
+++ b/ConsoleApp/HexPlot.py
@@ -10,7 +10,7 @@ if __name__ == "__main__":
     ym = []
     xf = []
     yf = []
-    with open("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/SavedList.txt") as c:
+    with open("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/HexPath.txt") as c:
         for line in c:
             x, y = line.split()
             xc.append(int(x))
@@ -22,7 +22,7 @@ if __name__ == "__main__":
             xm.append(int(x))
             ym.append(int(y))
 
-    with open("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/DetectedMines.txt") as f:
+    with open("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/HexDetectedMines.txt") as f:
         for line in f:
             x, y = line.split()
             xf.append(int(x))
@@ -32,8 +32,8 @@ if __name__ == "__main__":
     plt.plot(xc, yc, 'o', label='vehicle',  color='blue')
     plt.plot(xm, ym, 'o', label='all mines', color='red')
     plt.plot(xf, yf, 'o', label='detected mines', color='orange')
-    plt.title('test 9')
+    plt.title('Hex Simulation')
     plt.legend(loc='lower left', fontsize='xx-small')
 
-    matplotlib.pyplot.savefig('/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/test.png')
+    matplotlib.pyplot.savefig('/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/HexTest.png')
     plt.close(fig)
\ No newline at end of file
diff --git a/ConsoleApp/ISimulationResults.cs b/ConsoleApp/ISimulationResults.cs
new file mode 100644
index 0000000..e8f930a
--- /dev/null
+++ b/ConsoleApp/ISimulationResults.cs
@@ -0,0 +1,19 @@
+using System.Collections.Generic;
+using ConsoleApp.Maps;
+using HexCore;
+
+namespace ConsoleApp
+{
+    public interface ISimulationResults
+    {
+        void WriteResults();
+        int HexTotalMoves { get; set; }
+        int HexBombsFound { get; set; }
+        int TotalBombs { get; set; }
+        List<Coordinate2D> HexPath { get; set; }
+        List<Coordinate2D> HexMappedBombs { get; set; }
+        List<Cell> Mines { get; set; }
+        int HexClearedCells { get; set; }
+        int HexUnClearedCells { get; set; }
+    }
+}
\ No newline at end of file
diff --git a/ConsoleApp/Maps/IMineMap.cs b/ConsoleApp/Maps/IMineMap.cs
index 5e66fff..5a13a56 100644
--- a/ConsoleApp/Maps/IMineMap.cs
+++ b/ConsoleApp/Maps/IMineMap.cs
@@ -1,3 +1,5 @@
+using System.Collections.Generic;
+
 namespace ConsoleApp.Maps
 {
     public interface IMineMap
@@ -6,5 +8,6 @@ namespace ConsoleApp.Maps
         
         int TotalBombs { get; }
         bool GetCell(int x, int y);
+        List<Cell> PlacedMines { get; }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/MineMap.cs b/ConsoleApp/Maps/MineMap.cs
index c157a45..7b0fa6d 100644
--- a/ConsoleApp/Maps/MineMap.cs
+++ b/ConsoleApp/Maps/MineMap.cs
@@ -12,23 +12,19 @@ namespace ConsoleApp.Maps
         private int _y;
         public bool[,] Map { get; }
         public int TotalBombs { get; }
-        private List<Cell> _placedMines;
+        public List<Cell> PlacedMines { get; }
 
         public MineMap(int x, int y, double minePercentage)
         {
             _x = x;
             _y = y;
-            _placedMines = new List<Cell>();
+            PlacedMines = new List<Cell>();
             _mineCount = (int)(x*y*(minePercentage/100));
             TotalBombs = _mineCount;
             Map = new bool[x, y];
             Map.Fill2DArray(false);
             PlaceMines();
-            using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/Mines.txt"))
-            {
-                foreach (var s in _placedMines)
-                    tw.WriteLine($"{s.X} {s.Y}");
-            }
+            
         }
         public bool GetCell(int x, int y) => Map[x,y];
 
@@ -47,7 +43,7 @@ namespace ConsoleApp.Maps
                 else
                 {
                     Map[x, y] = true;
-                    _placedMines.Add(new Cell(x,y));
+                    PlacedMines.Add(new Cell(x,y));
                 }
             }
         }
diff --git a/ConsoleApp/Output/Data.txt b/ConsoleApp/Output/Data.txt
new file mode 100644
index 0000000..a3ad04a
--- /dev/null
+++ b/ConsoleApp/Output/Data.txt
@@ -0,0 +1,7 @@
+General:
+	 Total Mines: 23
+Hex: 
+	 Total Moves: 927
+	 Bombs Found: 23
+	 Cleared Cell Count: 2295
+	 Uncleared Cell Count: 9
diff --git a/ConsoleApp/Output/DetectedMines.txt b/ConsoleApp/Output/DetectedMines.txt
deleted file mode 100644
index cc278b8..0000000
--- a/ConsoleApp/Output/DetectedMines.txt
+++ /dev/null
@@ -1,7 +0,0 @@
-8 5
-8 6
-5 11
-9 10
-13 9
-13 14
-10 13
diff --git a/ConsoleApp/Output/HexDetectedMines.txt b/ConsoleApp/Output/HexDetectedMines.txt
new file mode 100644
index 0000000..e69de29
diff --git a/ConsoleApp/Output/HexPath.txt b/ConsoleApp/Output/HexPath.txt
new file mode 100644
index 0000000..032288e
--- /dev/null
+++ b/ConsoleApp/Output/HexPath.txt
@@ -0,0 +1,927 @@
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literal 0
HcmV?d00001

diff --git a/ConsoleApp/Output/Mines.txt b/ConsoleApp/Output/Mines.txt
deleted file mode 100644
index a2cd0e2..0000000
--- a/ConsoleApp/Output/Mines.txt
+++ /dev/null
@@ -1,8 +0,0 @@
-5 11
-8 6
-13 14
-9 10
-13 9
-10 13
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diff --git a/ConsoleApp/Program.cs b/ConsoleApp/Program.cs
index 625b13b..d90d0e7 100644
--- a/ConsoleApp/Program.cs
+++ b/ConsoleApp/Program.cs
@@ -15,34 +15,14 @@ namespace ConsoleApp
         static void Main(string[] args)
         {
             _bootstrapper = BootStrapper.BootstrapSystem(new CoreModule());
+            var simResults = _bootstrapper.Resolve<ISimulationResults>();
             _userConsole = new UserConsole();
             Initialization();
-            GenerateImages();
+            simResults.WriteResults();
             Console.WriteLine("Program Completed");
         }
 
-        private static void GenerateImages()
-        {
-            // var generateMap= "python3 ConsoleApp/plot.py";
-            // System.Diagnostics.Process.Start("CMD.exe",generateMap);
-            //
-            var file = Path.Combine("./",Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location), @"plot.py");
-            ProcessStartInfo startInfo = new ProcessStartInfo()
-            {
-                FileName = "python3",
-                Arguments = file,
-                UseShellExecute = true
-            };
-            Process proc = new Process()
-            {
-                StartInfo = startInfo,
-            };
-            proc.Start();
-            while (!proc.HasExited)
-            {
-                Thread.Sleep(500);
-            }
-        }
+       
 
         private static void Initialization()
         {
diff --git a/ConsoleApp/SimRunner.cs b/ConsoleApp/SimRunner.cs
index 647a15c..66a089d 100644
--- a/ConsoleApp/SimRunner.cs
+++ b/ConsoleApp/SimRunner.cs
@@ -24,19 +24,23 @@ namespace ConsoleApp
         private IReactivePathPlanner _reactivePathPlanner;
         private HashSet<Coordinate2D> hexBombsFound = new HashSet<Coordinate2D>();
         private List<Coordinate2D> testingPath = new List<Coordinate2D>();
+        private ISimulationResults _simulationResults;
 
 
-        public SimRunner(IMapFactory mapFactory, IVehicle vehicle, IPathPlanner pathPlanner, IReactivePathPlanner reactivePathPlanner)
+        public SimRunner(IMapFactory mapFactory, IVehicle vehicle, IPathPlanner pathPlanner, IReactivePathPlanner reactivePathPlanner, ISimulationResults simulationResults)
         {
             _mapFactory = mapFactory;
             _vehicle = vehicle;
             _pathPlanner = pathPlanner;
             _reactivePathPlanner = reactivePathPlanner;
+            _simulationResults = simulationResults;
         }
 
         public void Run()
         {
             _mineMap = _mapFactory.GetMineMap();
+            _simulationResults.Mines = _mineMap.PlacedMines;
+            _simulationResults.TotalBombs = _mineMap.TotalBombs;
             SquareSimulation();
             HexSimulation();
             // while(!squareTask.IsCompleted && !hexTask.IsCompleted){Thread.Sleep(500);}
@@ -48,13 +52,12 @@ namespace ConsoleApp
             var hexMap = _mapFactory.GetHexMap();
             _vehicle.CurrentHexCell = new Coordinate2D(0, 0, OffsetTypes.OddRowsRight);
             var optimalPath = _pathPlanner.GenerateOptimalHexPath(hexMap, _vehicle);
-            var minimumMoves = optimalPath.Count;
             var finished = false;
             var totalMoves = 0;
             while (!finished)
             {
                 totalMoves += 1;
-                testingPath.Add(_vehicle.CurrentHexCell);
+                _simulationResults.HexPath.Add(_vehicle.CurrentHexCell);
 
                 var detectionCells = DetectionHead.GetCoveredCells(hexMap.Graph, _vehicle.CurrentHexCell, _vehicle.DetectorRadius, _vehicle.TurnRadius);
                 //Check Cells for mine
@@ -80,63 +83,38 @@ namespace ConsoleApp
                         break;
                     }
 
-                    var replan = false;
-                    //if the next optimal cell is blocked then we need to replan around it.
-                    while (hexMap.Graph.IsCellBlocked(nextOptimal))
+                    if (hexMap.Graph.IsCellBlocked(nextOptimal))
                     {
-                        replan = true;
-                        if (optimalPath.TryDequeue(out nextOptimal)) continue;
-                        finished = true;
-                        break;
+                        _reactivePathPlanner.GenerateReactiveHexPath(hexMap, optimalPath, _vehicle.CurrentHexCell);
                     }
-                    if(replan)
-                    {
-                        var tmpPath =
-                            hexMap.Graph.GetShortestPath(_vehicle.CurrentHexCell, nextOptimal, hexMap.DefaultMovement);
-                        if (Math.Abs(_vehicle.CurrentHexCell.X - nextOptimal.X) > 1 || Math.Abs(_vehicle.CurrentHexCell.Y - nextOptimal.Y) > 1)
-                            optimalPath.Dequeue();
-                        tmpPath.AddRange(optimalPath);
-                        
-                        optimalPath.Clear();
-                        foreach (var cell in tmpPath)
-                        {
-                            optimalPath.Enqueue(cell);
-                        }
-                        optimalPath.TryDequeue(out nextOptimal);
-                    }
-
-                    var last = testingPath[testingPath.Count-1];
-                    if (Math.Abs(last.X - nextOptimal.X) > 1 || Math.Abs(last.Y - nextOptimal.Y) > 1)
-                        Console.WriteLine("To big of a gap");
-                  
-                    _vehicle.CurrentHexCell = nextOptimal;
+                    else
+                        _vehicle.CurrentHexCell = nextOptimal;
                 }
             }
             
             
             //Debugging information
-            using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/SavedList.txt"))
-            {
-                foreach (Coordinate2D s in testingPath)
-                    tw.WriteLine($"{s.X} {s.Y}");
-            }
-            using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/DetectedMines.txt"))
-            {
-                foreach (Coordinate2D s in hexBombsFound)
-                    tw.WriteLine($"{s.X} {s.Y}");
-            }
-            var covered = CoveredCells();
-            Console.WriteLine($"Total cells traversed: {totalMoves} \n" +
-                              $"Minimum required: {minimumMoves}");
-            Console.WriteLine($"Total bombs found: {hexBombsFound.Count}/{_mineMap.TotalBombs}");
-            
+            var (cleared, uncleared) = CoveredCells();
+            _simulationResults.HexClearedCells = cleared;
+            _simulationResults.HexUnClearedCells = uncleared;
+            _simulationResults.HexTotalMoves = totalMoves;
+            _simulationResults.HexBombsFound = hexBombsFound.Count;
         }
 
-        private int CoveredCells()
+        private (int, int) CoveredCells()
         {
+            var cleared = 0;
+            var uncleared = 0;
             var hexMap = _mapFactory.GetHexMap();
-            //for()
-            return 0;
+            foreach (var cellState in hexMap.Graph.GetAllCells())
+            {
+                if (cellState.TerrainType.Id == hexMap.ClearedTerrain.Id)
+                    cleared++;
+                if (cellState.TerrainType.Id == hexMap.UnclearedTerrain.Id)
+                    uncleared++;
+            }
+
+            return (cleared, uncleared);
         }
 
 
@@ -158,11 +136,6 @@ namespace ConsoleApp
             var cellsToBlock = hexMap.Graph.GetRange(cell, _vehicle.Width / 2);
             hexMap.Graph.BlockCells(cellsToBlock);
             
-            // //debugging
-            // foreach (var celllll in cellsToBlock)
-            // {
-            //     Console.WriteLine($"({celllll.X}, {celllll.Y}) Blocked: {hexMap.Graph.GetCellState(celllll).IsBlocked}");    
-            // }
         }
 
 
diff --git a/ConsoleApp/SimulationResults.cs b/ConsoleApp/SimulationResults.cs
new file mode 100644
index 0000000..c2a2ca8
--- /dev/null
+++ b/ConsoleApp/SimulationResults.cs
@@ -0,0 +1,104 @@
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.IO;
+using System.Reflection;
+using System.Threading;
+using ConsoleApp.Maps;
+using HexCore;
+
+namespace ConsoleApp
+{
+    public class SimulationResults : ISimulationResults
+    {
+        public int HexTotalMoves { get; set; }
+        public int HexBombsFound { get; set; }
+        public int TotalBombs { get; set; }
+        public List<Coordinate2D> HexPath { get; set; }
+        public List<Coordinate2D> HexMappedBombs { get; set; }
+        public List<Cell> Mines { get; set; }
+        public int HexClearedCells { get; set; }
+        public int HexUnClearedCells { get; set; }
+
+        public SimulationResults()
+        {
+            HexTotalMoves = 0;
+            HexBombsFound = 0;
+            TotalBombs = 0;
+            HexPath = new List<Coordinate2D>();
+            HexMappedBombs = new List<Coordinate2D>();
+            Mines = new List<Cell>();
+            HexClearedCells = 0;
+            HexUnClearedCells = 0;
+        }
+
+        public void WriteResults()
+        {
+            WriteData();
+            WriteMines();
+            WritePaths();
+            WriteDetectedMines();
+            GenerateImages();
+        }
+        
+        private static void GenerateImages()
+        {
+            var file = Path.Combine("./",Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location), @"HexPlot.py");
+            ProcessStartInfo startInfo = new ProcessStartInfo()
+            {
+                FileName = "python3",
+                Arguments = file,
+                UseShellExecute = true
+            };
+            Process proc = new Process()
+            {
+                StartInfo = startInfo,
+            };
+            proc.Start();
+            while (!proc.HasExited)
+            {
+                Thread.Sleep(500);
+            }
+        }
+
+        private void WriteData()
+        {
+            using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/Data.txt"))
+            {
+                tw.WriteLine($"General:");
+                tw.WriteLine($"\t Total Mines: {TotalBombs}");
+                tw.WriteLine($"Hex: ");
+                tw.WriteLine($"\t Total Moves: {HexTotalMoves}");
+                tw.WriteLine($"\t Bombs Found: {HexBombsFound}");
+                tw.WriteLine($"\t Cleared Cell Count: {HexClearedCells}");
+                tw.WriteLine($"\t Uncleared Cell Count: {HexUnClearedCells}");
+            }
+        }
+
+        private void WriteMines()
+        {
+            using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/Mines.txt"))
+            {
+                foreach (var s in Mines)
+                    tw.WriteLine($"{s.X} {s.Y}");
+            }
+        }
+
+        private void WriteDetectedMines()
+        {
+            using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/HexDetectedMines.txt"))
+            {
+                foreach (Coordinate2D s in HexMappedBombs)
+                    tw.WriteLine($"{s.X} {s.Y}");
+            }        
+        }
+
+        private void WritePaths()
+        {
+            using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/HexPath.txt"))
+            {
+                foreach (Coordinate2D s in HexPath)
+                    tw.WriteLine($"{s.X} {s.Y}");
+            }
+        }
+    }
+}
\ No newline at end of file