From 230e97e3dfacbae1d0c07b04baa03429ec72c73d Mon Sep 17 00:00:00 2001
From: zac johnson <zacjohnson@protonmail.com>
Date: Thu, 10 Dec 2020 16:48:34 -0700
Subject: [PATCH 01/13] Start of hex cell

---
 ConsoleApp/Maps/Direction.cs |  7 +++++++
 ConsoleApp/Maps/HexCell.cs   | 19 ++++++++++++++++---
 ConsoleApp/Maps/HexMap.cs    | 20 +++++++++++++++++++-
 3 files changed, 42 insertions(+), 4 deletions(-)
 create mode 100644 ConsoleApp/Maps/Direction.cs

diff --git a/ConsoleApp/Maps/Direction.cs b/ConsoleApp/Maps/Direction.cs
new file mode 100644
index 0000000..c3d2d8b
--- /dev/null
+++ b/ConsoleApp/Maps/Direction.cs
@@ -0,0 +1,7 @@
+namespace ConsoleApp.Maps
+{
+    public enum Direction
+    {
+        Forward, Reverse
+    }
+}
\ No newline at end of file
diff --git a/ConsoleApp/Maps/HexCell.cs b/ConsoleApp/Maps/HexCell.cs
index 961f0f0..4dd5d93 100644
--- a/ConsoleApp/Maps/HexCell.cs
+++ b/ConsoleApp/Maps/HexCell.cs
@@ -1,7 +1,20 @@
-namespace ConsoleApp
+using System;
+using System.Collections.Generic;
+
+namespace ConsoleApp.Maps
 {
-    public class HexCell
+    public struct HexCell
     {
-        
+        public int Q { get; }
+        public int R { get; }
+        public int S { get; }
+        public HexCell(int q, int r, int s)
+        {
+            if (q + r + s != 0) throw new ArgumentException("q + r + s must be 0");
+            Q = q;
+            R = r;
+            S = s;
+        }
+  
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/HexMap.cs b/ConsoleApp/Maps/HexMap.cs
index 0f24d36..bc29f22 100644
--- a/ConsoleApp/Maps/HexMap.cs
+++ b/ConsoleApp/Maps/HexMap.cs
@@ -1,7 +1,25 @@
+using System;
+using System.Collections.Generic;
+
 namespace ConsoleApp.Maps
 {
     public class HexMap
     {
-        
+        private HexCell[,] Map { get; }
+
+        public HexMap(int x, int y)
+        {
+            for (int r = 0; r < y; r++) {
+                int r_offset = Convert.ToInt32(Math.Floor(Convert.ToDouble(r)/2));
+                for (int q = -r_offset; q < x - r_offset; q++) {
+                    Map[r, q] = new HexCell(q, r, -q-r);
+                }
+            }
+        }
+
+        public List<HexCell> PossibleMoves(HexCell fromCell, Direction direction, Double orientation)
+        {
+            
+        }
     }
 }
\ No newline at end of file

From 63f158afd9a458d8389d86d5e4de519f6093d88f Mon Sep 17 00:00:00 2001
From: Brady Bodily <bradybod@gmail.com>
Date: Thu, 10 Dec 2020 20:07:23 -0700
Subject: [PATCH 02/13] backing up

---
 .../.idea/contentModel.xml                    |   1 -
 .../.idea.RobotIntelFinal/.idea/workspace.xml | 142 ++++++++++++++----
 ConsoleApp/CoreModule.cs                      |  13 +-
 ConsoleApp/Maps/Direction.cs                  |  15 ++
 ConsoleApp/Maps/Heading.cs                    |  38 +++++
 ConsoleApp/Maps/HexCell.cs                    |   2 +-
 ConsoleApp/Maps/ICell.cs                      |   7 +
 ConsoleApp/Maps/IMap.cs                       |   9 ++
 ConsoleApp/Maps/IMapManager.cs                |   7 +
 ConsoleApp/Maps/ISquareCell.cs                |   5 +-
 ConsoleApp/Maps/MapFactory.cs                 |   2 +-
 ConsoleApp/Maps/MapManager.cs                 |   6 +
 ConsoleApp/Maps/SquareCell.cs                 |  11 +-
 ConsoleApp/Maps/SquareMap.cs                  |  34 ++++-
 ConsoleApp/Module.cs                          |  21 ---
 ConsoleApp/Program.cs                         |  10 +-
 ConsoleApp/UserConsole.cs                     |  19 ++-
 RobotIntelFinal.sln.DotSettings.user          |   3 +
 18 files changed, 268 insertions(+), 77 deletions(-)
 create mode 100644 ConsoleApp/Maps/Direction.cs
 create mode 100644 ConsoleApp/Maps/Heading.cs
 create mode 100644 ConsoleApp/Maps/ICell.cs
 create mode 100644 ConsoleApp/Maps/IMap.cs
 create mode 100644 ConsoleApp/Maps/IMapManager.cs
 create mode 100644 ConsoleApp/Maps/MapManager.cs
 delete mode 100644 ConsoleApp/Module.cs
 create mode 100644 RobotIntelFinal.sln.DotSettings.user

diff --git a/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml b/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
index 0e2c1f4..9a12573 100644
--- a/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
+++ b/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
@@ -22,7 +22,6 @@
           <e p="SquareCell.cs" t="Include" />
           <e p="SquareMap.cs" t="Include" />
         </e>
-        <e p="Module.cs" t="Include" />
         <e p="obj" t="ExcludeRecursive">
           <e p="Debug" t="Include">
             <e p="netcoreapp3.1" t="Include">
diff --git a/.idea/.idea.RobotIntelFinal/.idea/workspace.xml b/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
index 11b2854..9400087 100644
--- a/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
+++ b/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
@@ -15,22 +15,14 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="dafcaeb7-80aa-43a3-a480-786fafb78c0b" name="Default Changelist" comment="">
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/Maps/HexCell.cs" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/Maps/IHexCell.cs" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/Maps/IHexMap.cs" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/Maps/ISquareCell.cs" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/Maps/ISquareMap.cs" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/Maps/SquareCell.cs" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.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/Bootstrapper.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Bootstrapper.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/ISimRunner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/ISimRunner.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/MapFactory.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.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/HexCell.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/HexCell.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/SquareCell.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/SquareCell.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/Module.cs" beforeDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/Program.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Program.cs" 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" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -56,24 +48,24 @@
         <option value="$PROJECT_DIR$/Simulator/Networking/NetworkInterface.cs" />
         <option value="$PROJECT_DIR$/ConsoleApp/IUserConsole.cs" />
         <option value="$PROJECT_DIR$/ConsoleApp/Module.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/CoreModule.cs" />
         <option value="$PROJECT_DIR$/ConsoleApp/MapFactory.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" />
         <option value="$PROJECT_DIR$/ConsoleApp/IMapFactory.cs" />
         <option value="$PROJECT_DIR$/ConsoleApp/Bootstrapper.cs" />
         <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMapFactory.cs" />
         <option value="$PROJECT_DIR$/ConsoleApp/ISimRunner.cs" />
         <option value="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Program.cs" />
         <option value="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.cs" />
         <option value="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" />
         <option value="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" />
         <option value="$PROJECT_DIR$/ConsoleApp/Maps/IHexMap.cs" />
         <option value="$PROJECT_DIR$/ConsoleApp/Maps/ISquareMap.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Maps/HexCell.cs" />
         <option value="$PROJECT_DIR$/ConsoleApp/Maps/IHexCell.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Maps/SquareCell.cs" />
         <option value="$PROJECT_DIR$/ConsoleApp/Maps/ISquareCell.cs" />
+        <option value="$PROJECT_DIR$/ConsoleApp/Maps/SquareCell.cs" />
+        <option value="$PROJECT_DIR$/ConsoleApp/Maps/HexCell.cs" />
+        <option value="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" />
+        <option value="$PROJECT_DIR$/ConsoleApp/Program.cs" />
+        <option value="$PROJECT_DIR$/ConsoleApp/CoreModule.cs" />
       </list>
     </option>
   </component>
@@ -86,8 +78,11 @@
     <option name="showLibraryContents" value="true" />
   </component>
   <component name="PropertiesComponent">
+    <property name="DebuggerViewTab_PTCS_FirstProportionKey" value="0.3496007" />
+    <property name="DebuggerViewTab_PTCS_LastProportionKey" value="0.29991126" />
     <property name="RunOnceActivity.OpenProjectViewOnStart" value="true" />
     <property name="WebServerToolWindowFactoryState" value="false" />
+    <property name="settings.editor.selected.configurable" value="SolutionBuilderGeneralOptionsPageId" />
     <property name="vue.rearranger.settings.migration" value="true" />
   </component>
   <component name="RunManager" selected=".NET Project.ConsoleApp">
@@ -137,6 +132,9 @@
       <option name="presentableId" value="Default" />
       <updated>1607286398679</updated>
       <workItem from="1607286402206" duration="6845000" />
+      <workItem from="1607640133651" duration="318000" />
+      <workItem from="1607640470920" duration="58000" />
+      <workItem from="1607640550443" duration="960000" />
     </task>
     <servers />
   </component>
@@ -161,31 +159,117 @@
     <option name="CLEAR_INITIAL_COMMIT_MESSAGE" value="true" />
   </component>
   <component name="WindowStateProjectService">
-    <state width="1158" height="582" key="GridCell.Tab.0.bottom" timestamp="1607636097456">
+    <state width="1158" height="581" key="GridCell.Tab.0.bottom" timestamp="1607641379864">
       <screen x="1440" y="-782" width="1200" height="1920" />
     </state>
-    <state width="1158" height="582" key="GridCell.Tab.0.bottom/0.0.1440.900/2640.-782.1200.1920/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607636097456" />
-    <state width="1158" height="582" key="GridCell.Tab.0.center" timestamp="1607636097453">
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+    <state width="1158" height="738" key="GridCell.Tab.3.center" timestamp="1607640745286">
+      <screen x="1440" y="-782" width="1200" height="1920" />
+    </state>
+    <state width="1158" height="738" key="GridCell.Tab.3.center/0.0.1440.900/2640.-782.1200.1920/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607640745286" />
+    <state width="1158" height="717" key="GridCell.Tab.3.center/0.25.1440.798/2640.-757.1200.1895/1440.-757.1200.1895@1440.-757.1200.1895" timestamp="1607639483783" />
+    <state width="1158" height="738" key="GridCell.Tab.3.center/0.25.1440.798/2640.-757.1200.1895/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607640704053" />
+    <state width="1158" height="738" key="GridCell.Tab.3.left" timestamp="1607640745282">
+      <screen x="1440" y="-782" width="1200" height="1920" />
+    </state>
+    <state width="1158" height="738" key="GridCell.Tab.3.left/0.0.1440.900/2640.-782.1200.1920/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607640745282" />
+    <state width="1158" height="717" key="GridCell.Tab.3.left/0.25.1440.798/2640.-757.1200.1895/1440.-757.1200.1895@1440.-757.1200.1895" timestamp="1607639483783" />
+    <state width="1158" height="738" key="GridCell.Tab.3.left/0.25.1440.798/2640.-757.1200.1895/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607640704052" />
+    <state width="1158" height="738" key="GridCell.Tab.3.right" timestamp="1607640745287">
+      <screen x="1440" y="-782" width="1200" height="1920" />
+    </state>
+    <state width="1158" height="738" key="GridCell.Tab.3.right/0.0.1440.900/2640.-782.1200.1920/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607640745287" />
+    <state width="1158" height="717" key="GridCell.Tab.3.right/0.25.1440.798/2640.-757.1200.1895/1440.-757.1200.1895@1440.-757.1200.1895" timestamp="1607639483784" />
+    <state width="1158" height="738" key="GridCell.Tab.3.right/0.25.1440.798/2640.-757.1200.1895/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607640704054" />
+    <state x="1640" y="-86" key="Rider.ProjectTemplateDialog.Size" timestamp="1607640243485">
       <screen x="1440" y="-782" width="1200" height="1920" />
     </state>
     <state x="1640" y="-86" key="Rider.ProjectTemplateDialog.Size/0.0.1440.900/2640.-782.1200.1920/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607286605974" />
-    <state x="1640" y="-86" key="Rider.ProjectTemplateDialog.Size/0.25.1440.798/2640.-757.1200.1895/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607287214952" />
+    <state x="1640" y="-86" key="Rider.ProjectTemplateDialog.Size/0.25.1440.798/2640.-757.1200.1895/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607640243485" />
     <state x="1860" y="-144" key="RiderGenerateDialog" timestamp="1607636510472">
       <screen x="1440" y="-782" width="1200" height="1920" />
     </state>
     <state x="1860" y="-144" key="RiderGenerateDialog/0.0.1440.900/2640.-782.1200.1920/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607636510472" />
+    <state x="1549" y="-186" key="SettingsEditor" timestamp="1607640461977">
+      <screen x="1440" y="-782" width="1200" height="1920" />
+    </state>
+    <state x="1549" y="-186" key="SettingsEditor/0.0.1440.900/2640.-782.1200.1920/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607640461977" />
+    <state x="1549" y="-186" key="SettingsEditor/0.25.1440.798/2640.-757.1200.1895/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607640274923" />
+    <state x="1549" y="-186" key="SettingsEditor/0.25.1440.875/2640.-757.1200.1895/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607639999828" />
     <state x="1703" y="-333" width="672" height="678" key="search.everywhere.popup" timestamp="1607633696072">
       <screen x="1440" y="-782" width="1200" height="1920" />
     </state>
diff --git a/ConsoleApp/CoreModule.cs b/ConsoleApp/CoreModule.cs
index 49473d5..9829a46 100644
--- a/ConsoleApp/CoreModule.cs
+++ b/ConsoleApp/CoreModule.cs
@@ -1,16 +1,17 @@
 using System.Threading;
-using ConsoleApp;
+using ConsoleApp.Maps;
 using DryIoc;
-using Module = ConsoleApp.Module;
 
-namespace Final
+namespace ConsoleApp
 {
-    public class CoreModule : Module
+    public class CoreModule : IModule
     {
-        public virtual void Register(IContainer container, ExecutionContext executionContext)
+        public virtual void Register(IContainer container)
         {
-            //container.Register<IUserConsole, UserConsole>(Reuse.Singleton);
+            container.Register<IMapFactory, MapFactory>(Reuse.Singleton);
+            container.Register<ISimRunner, SimRunner>(Reuse.Singleton);
         }
+        
 
         public virtual void Resolve(IContainer container)
         {
diff --git a/ConsoleApp/Maps/Direction.cs b/ConsoleApp/Maps/Direction.cs
new file mode 100644
index 0000000..833ddf8
--- /dev/null
+++ b/ConsoleApp/Maps/Direction.cs
@@ -0,0 +1,15 @@
+using System;
+
+namespace ConsoleApp.Maps
+{
+    public class Direction
+    {
+        public static Tuple<int, int> Forward => _forward;
+        public static Tuple<int, int> Reverse => _reverse;
+
+        
+        private static Tuple<int,int> _forward = new Tuple<int, int>(1, 0);
+        private static Tuple<int,int> _reverse = new Tuple<int, int>(-1, 0);
+
+    }
+}
\ No newline at end of file
diff --git a/ConsoleApp/Maps/Heading.cs b/ConsoleApp/Maps/Heading.cs
new file mode 100644
index 0000000..c46b5c5
--- /dev/null
+++ b/ConsoleApp/Maps/Heading.cs
@@ -0,0 +1,38 @@
+namespace ConsoleApp.Maps
+{
+    public class Heading
+    {
+        private (int, int) _currentHeading;
+        public (int, int) CurrentHeading { get; }
+        
+        public void SetHeading((int,int)frontAxel, (int,int)backAxel)
+        {
+            var x = frontAxel.Item1 - backAxel.Item1;
+            var y = frontAxel.Item2 - backAxel.Item2;
+            //forward
+            if (x == 0 && y >= 1) _currentHeading = (0, 1);
+            //backward
+            if (x == 0 && y <= -1) _currentHeading = (0, -1);
+            //right
+            if (x >= 1 && y == 0) _currentHeading = (1, 0);
+            //left
+            if (x <= -1 && y == 0) _currentHeading = (-1, 0);
+            //left, back
+            if (x <= -1 && y <= -1) _currentHeading = (-1, -1);
+            //right, forward
+            if (x >= 1 && y >= 1) _currentHeading = (1, 1);
+            //left, forward
+            if (x <= -1 && y >= 1) _currentHeading = (-1, 1);
+            //right, back
+            if (x >= 1 && y <= -1) _currentHeading = (1, -1);
+
+        }
+        public Heading()
+        {
+            _currentHeading = (1,0);
+            CurrentHeading = _currentHeading;
+        }
+
+
+    }
+}
\ No newline at end of file
diff --git a/ConsoleApp/Maps/HexCell.cs b/ConsoleApp/Maps/HexCell.cs
index 961f0f0..2c3f2a6 100644
--- a/ConsoleApp/Maps/HexCell.cs
+++ b/ConsoleApp/Maps/HexCell.cs
@@ -1,6 +1,6 @@
 namespace ConsoleApp
 {
-    public class HexCell
+    public struct HexCell
     {
         
     }
diff --git a/ConsoleApp/Maps/ICell.cs b/ConsoleApp/Maps/ICell.cs
new file mode 100644
index 0000000..7f50db6
--- /dev/null
+++ b/ConsoleApp/Maps/ICell.cs
@@ -0,0 +1,7 @@
+namespace ConsoleApp.Maps
+{
+    public interface ICell
+    {
+        
+    }
+}
\ No newline at end of file
diff --git a/ConsoleApp/Maps/IMap.cs b/ConsoleApp/Maps/IMap.cs
new file mode 100644
index 0000000..1fbbdad
--- /dev/null
+++ b/ConsoleApp/Maps/IMap.cs
@@ -0,0 +1,9 @@
+using System.Collections.Generic;
+
+namespace ConsoleApp.Maps
+{
+    public interface IMap
+    {
+        public List<ICell> PossibleMoves();
+    }
+}
\ No newline at end of file
diff --git a/ConsoleApp/Maps/IMapManager.cs b/ConsoleApp/Maps/IMapManager.cs
new file mode 100644
index 0000000..286faa9
--- /dev/null
+++ b/ConsoleApp/Maps/IMapManager.cs
@@ -0,0 +1,7 @@
+namespace ConsoleApp.Maps
+{
+    public interface IMapManager
+    {
+        
+    }
+}
\ No newline at end of file
diff --git a/ConsoleApp/Maps/ISquareCell.cs b/ConsoleApp/Maps/ISquareCell.cs
index 7b118a5..2ef5168 100644
--- a/ConsoleApp/Maps/ISquareCell.cs
+++ b/ConsoleApp/Maps/ISquareCell.cs
@@ -1,7 +1,8 @@
 namespace ConsoleApp.Maps
 {
-    public interface ISquareCell
+    public interface ISquareCell : ICell
     {
-        
+        int X { get; }
+        int Y { get; }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/MapFactory.cs b/ConsoleApp/Maps/MapFactory.cs
index 2ca6254..5f4d1dc 100644
--- a/ConsoleApp/Maps/MapFactory.cs
+++ b/ConsoleApp/Maps/MapFactory.cs
@@ -14,7 +14,7 @@ namespace ConsoleApp.Maps
         {
             Width = x;
             Height = y;
-            throw new System.NotImplementedException();
+            new SquareMap(x, y);
         }
 
         public MapFactory()
diff --git a/ConsoleApp/Maps/MapManager.cs b/ConsoleApp/Maps/MapManager.cs
new file mode 100644
index 0000000..ebdb476
--- /dev/null
+++ b/ConsoleApp/Maps/MapManager.cs
@@ -0,0 +1,6 @@
+namespace ConsoleApp.Maps
+{
+    public class MapManager : IMapManager
+    {
+    }
+}
\ No newline at end of file
diff --git a/ConsoleApp/Maps/SquareCell.cs b/ConsoleApp/Maps/SquareCell.cs
index 051bb42..d237b5d 100644
--- a/ConsoleApp/Maps/SquareCell.cs
+++ b/ConsoleApp/Maps/SquareCell.cs
@@ -1,7 +1,14 @@
 namespace ConsoleApp.Maps
 {
-    public class SquareCell
+    public struct SquareCell : ISquareCell
     {
-        
+        public int X { get; }
+        public int Y { get; }
+
+        public SquareCell(int x, int y)
+        {
+            X = x;
+            Y = y;
+        }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/SquareMap.cs b/ConsoleApp/Maps/SquareMap.cs
index 90511c3..a0583e5 100644
--- a/ConsoleApp/Maps/SquareMap.cs
+++ b/ConsoleApp/Maps/SquareMap.cs
@@ -1,7 +1,37 @@
+using System;
+using System.Collections.Generic;
+
 namespace ConsoleApp.Maps
 {
-    public class SquareMap
+    public class SquareMap : ISquareMap
     {
-        
+        public SquareCell[,] Map { get;}
+
+        public SquareMap(int x, int y)
+        {
+            Map = new SquareCell[x,y];
+            for (int i = 0; i < x; i++)
+            {
+                for (int j = 0; j < y; j++)
+                {
+                    Map[i,j] = new SquareCell(i, j);
+                }
+            }
+        }
+
+        public List<ICell> PossibleMoves(SquareCell myCell)
+        {
+            var forward = (myCell.X , myCell.Y + 1);
+            var backwards= (myCell.X , myCell.Y - 1);
+            var right = (myCell.X + 1, myCell.Y);
+            var left = (myCell.X - 1, myCell.Y);
+            var possibles = new List<ICell>();
+            possibles.Add(Map[forward.Item1, forward.Item2]);
+            possibles.Add(Map[backwards.Item1, backwards.Item2]);
+            possibles.Add(Map[right.Item1, right.Item2]);
+            possibles.Add(Map[left.Item1, left.Item2]);
+            
+            return possibles;
+        }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Module.cs b/ConsoleApp/Module.cs
deleted file mode 100644
index d4a31e6..0000000
--- a/ConsoleApp/Module.cs
+++ /dev/null
@@ -1,21 +0,0 @@
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Linq;
-using System.Collections.Generic;
-
-using DryIoc;
-
-namespace ConsoleApp
-{
-    public abstract class Module : IModule
-    {
-        public virtual void Register(IContainer container)
-        {
-        }
-
-        public virtual void Resolve(IContainer container)
-        {
-        }
-    }
-}
\ No newline at end of file
diff --git a/ConsoleApp/Program.cs b/ConsoleApp/Program.cs
index 6fb7869..247c69f 100644
--- a/ConsoleApp/Program.cs
+++ b/ConsoleApp/Program.cs
@@ -10,12 +10,12 @@ namespace ConsoleApp
 
         static void Main(string[] args)
         {
-            _bootstrapper = new BootStrapper();
+            _bootstrapper = BootStrapper.BootstrapSystem(new CoreModule());
             _userConsole = new UserConsole();
-            StartSimulation();
+            Initialization();
         }
 
-        private static void StartSimulation()
+        private static void Initialization()
         {
             _userConsole.PrintStartMenu();
             var input = _userConsole.GetUserInput();
@@ -27,14 +27,14 @@ namespace ConsoleApp
             else
             {
                 _userConsole.PrintInvalidInput();
-                StartSimulation();
+                Initialization();
             }
         }
 
         private static void RunSimulation(int x,int y)
         {
-            var simRunner = _bootstrapper.Resolve<ISimRunner>();
             var mapFactory = _bootstrapper.Resolve<IMapFactory>();
+            var simRunner = _bootstrapper.Resolve<ISimRunner>();
             
             mapFactory.GenerateMaps(x, y);
             simRunner.Run();
diff --git a/ConsoleApp/UserConsole.cs b/ConsoleApp/UserConsole.cs
index 9f824d3..33f2d23 100644
--- a/ConsoleApp/UserConsole.cs
+++ b/ConsoleApp/UserConsole.cs
@@ -1,4 +1,5 @@
 using System;
+using System.Collections.Generic;
 using System.Linq;
 using ConsoleApp.Maps;
 
@@ -28,18 +29,22 @@ namespace ConsoleApp
 
         public (int width, int height) GetMapDimensions()
         {
-            Console.WriteLine($"Enter Dimensions of map/area to clear as (x, y)");
-            var input = GetUserInput();
-            var numbers = input.Split();
-            if (numbers.Length != 4)
+            Console.WriteLine($"Enter map height: ");
+            var x = GetUserInput();
+
+            if (!int.TryParse(x, out var width))
             {
                 PrintInvalidInput();
                 GetMapDimensions();
             }
 
-            var parsedNumbers = numbers.Where(x => !(x.Equals("(") || x.Equals(")"))).ToList();
-            int.TryParse(parsedNumbers[0], out var width);
-            int.TryParse(parsedNumbers[1], out var height);
+            Console.WriteLine($"Enter map height: ");
+            var y = GetUserInput();
+            if(!int.TryParse(y, out var height))
+            {
+                PrintInvalidInput();
+                GetMapDimensions();
+            }
             return (width, height);
         }
     }
diff --git a/RobotIntelFinal.sln.DotSettings.user b/RobotIntelFinal.sln.DotSettings.user
new file mode 100644
index 0000000..fb23c2a
--- /dev/null
+++ b/RobotIntelFinal.sln.DotSettings.user
@@ -0,0 +1,3 @@
+<wpf:ResourceDictionary xml:space="preserve" xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml" xmlns:s="clr-namespace:System;assembly=mscorlib" xmlns:ss="urn:shemas-jetbrains-com:settings-storage-xaml" xmlns:wpf="http://schemas.microsoft.com/winfx/2006/xaml/presentation">
+	<s:Int64 x:Key="/Default/Environment/Hierarchy/Build/BuildTool/MsbuildVersion/@EntryValue">1048576</s:Int64>
+	<s:String x:Key="/Default/Environment/Hierarchy/Build/BuildTool/CustomBuildToolPath/@EntryValue">/Users/brady.bodily/.dotnet/sdk/3.1.402/MSBuild.dll</s:String></wpf:ResourceDictionary>
\ No newline at end of file

From 7f0cb10198de350be552260fad65b8dc1f29cabf Mon Sep 17 00:00:00 2001
From: Brady Bodily <bradybod@gmail.com>
Date: Thu, 10 Dec 2020 20:15:09 -0700
Subject: [PATCH 03/13] Backup

---
 ConsoleApp/Maps/HexCell.cs     | 2 +-
 ConsoleApp/Maps/HexMap.cs      | 4 ++--
 ConsoleApp/Maps/IHexCell.cs    | 2 +-
 ConsoleApp/Maps/IMapManager.cs | 7 -------
 ConsoleApp/Maps/MapManager.cs  | 6 ------
 5 files changed, 4 insertions(+), 17 deletions(-)
 delete mode 100644 ConsoleApp/Maps/IMapManager.cs
 delete mode 100644 ConsoleApp/Maps/MapManager.cs

diff --git a/ConsoleApp/Maps/HexCell.cs b/ConsoleApp/Maps/HexCell.cs
index 4dd5d93..8466a88 100644
--- a/ConsoleApp/Maps/HexCell.cs
+++ b/ConsoleApp/Maps/HexCell.cs
@@ -3,7 +3,7 @@ using System.Collections.Generic;
 
 namespace ConsoleApp.Maps
 {
-    public struct HexCell
+    public struct HexCell : IHexCell
     {
         public int Q { get; }
         public int R { get; }
diff --git a/ConsoleApp/Maps/HexMap.cs b/ConsoleApp/Maps/HexMap.cs
index bc29f22..2ed8bd6 100644
--- a/ConsoleApp/Maps/HexMap.cs
+++ b/ConsoleApp/Maps/HexMap.cs
@@ -17,9 +17,9 @@ namespace ConsoleApp.Maps
             }
         }
 
-        public List<HexCell> PossibleMoves(HexCell fromCell, Direction direction, Double orientation)
+        public List<ICell> PossibleMoves(HexCell fromCell, Direction direction, Double orientation)
         {
-            
+            throw new NotImplementedException();
         }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/IHexCell.cs b/ConsoleApp/Maps/IHexCell.cs
index b4a8d99..29fd15e 100644
--- a/ConsoleApp/Maps/IHexCell.cs
+++ b/ConsoleApp/Maps/IHexCell.cs
@@ -1,6 +1,6 @@
 namespace ConsoleApp.Maps
 {
-    public interface IHexCell
+    public interface IHexCell : ICell
     {
         
     }
diff --git a/ConsoleApp/Maps/IMapManager.cs b/ConsoleApp/Maps/IMapManager.cs
deleted file mode 100644
index 286faa9..0000000
--- a/ConsoleApp/Maps/IMapManager.cs
+++ /dev/null
@@ -1,7 +0,0 @@
-namespace ConsoleApp.Maps
-{
-    public interface IMapManager
-    {
-        
-    }
-}
\ No newline at end of file
diff --git a/ConsoleApp/Maps/MapManager.cs b/ConsoleApp/Maps/MapManager.cs
deleted file mode 100644
index ebdb476..0000000
--- a/ConsoleApp/Maps/MapManager.cs
+++ /dev/null
@@ -1,6 +0,0 @@
-namespace ConsoleApp.Maps
-{
-    public class MapManager : IMapManager
-    {
-    }
-}
\ No newline at end of file

From d725372ffb6ddd4692e714915c032c4bc677efb5 Mon Sep 17 00:00:00 2001
From: Brady Bodily <bradybod@gmail.com>
Date: Thu, 10 Dec 2020 20:34:45 -0700
Subject: [PATCH 04/13] Maps are more generic as well as cells.

---
 .../.idea/contentModel.xml                    |   4 +
 .../.idea.RobotIntelFinal/.idea/workspace.xml | 146 ++++++++++--------
 ConsoleApp/Maps/HexCell.cs                    |  12 +-
 ConsoleApp/Maps/HexMap.cs                     |   8 +-
 ConsoleApp/Maps/ICell.cs                      |   4 +-
 ConsoleApp/Maps/IHexMap.cs                    |   2 +-
 ConsoleApp/Maps/IMap.cs                       |   2 +-
 ConsoleApp/Maps/IMapFactory.cs                |   3 +-
 ConsoleApp/Maps/ISquareCell.cs                |   4 +-
 ConsoleApp/Maps/ISquareMap.cs                 |   2 +-
 ConsoleApp/Maps/MapFactory.cs                 |  14 +-
 ConsoleApp/Maps/SquareCell.cs                 |   2 +
 ConsoleApp/Maps/SquareMap.cs                  |  10 +-
 ConsoleApp/SimRunner.cs                       |   2 +-
 14 files changed, 121 insertions(+), 94 deletions(-)

diff --git a/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml b/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
index 9a12573..1a4249f 100644
--- a/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
+++ b/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
@@ -11,10 +11,14 @@
         <e p="ISimRunner.cs" t="Include" />
         <e p="IUserConsole.cs" t="Include" />
         <e p="Maps" t="Include">
+          <e p="Direction.cs" t="Include" />
+          <e p="Heading.cs" t="Include" />
           <e p="HexCell.cs" t="Include" />
           <e p="HexMap.cs" t="Include" />
+          <e p="ICell.cs" t="Include" />
           <e p="IHexCell.cs" t="Include" />
           <e p="IHexMap.cs" t="Include" />
+          <e p="IMap.cs" t="Include" />
           <e p="IMapFactory.cs" t="Include" />
           <e p="ISquareCell.cs" t="Include" />
           <e p="ISquareMap.cs" t="Include" />
diff --git a/.idea/.idea.RobotIntelFinal/.idea/workspace.xml b/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
index 9400087..5c35923 100644
--- a/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
+++ b/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
@@ -15,14 +15,19 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="dafcaeb7-80aa-43a3-a480-786fafb78c0b" name="Default Changelist" comment="">
+      <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/CoreModule.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/CoreModule.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/HexCell.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/HexCell.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/ICell.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/ICell.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/IMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/IMap.cs" afterDir="false" />
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     <state width="1158" height="738" key="GridCell.Tab.3.left/0.0.1440.900/2640.-782.1200.1920/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607640745282" />
-    <state width="1158" height="717" key="GridCell.Tab.3.left/0.25.1440.798/2640.-757.1200.1895/1440.-757.1200.1895@1440.-757.1200.1895" timestamp="1607639483783" />
+    <state width="1158" height="716" key="GridCell.Tab.3.left/0.25.1440.798/2640.-757.1200.1895/1440.-757.1200.1895@1440.-757.1200.1895" timestamp="1607657084439" />
     <state width="1158" height="738" key="GridCell.Tab.3.left/0.25.1440.798/2640.-757.1200.1895/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607640704052" />
-    <state width="1158" height="738" key="GridCell.Tab.3.right" timestamp="1607640745287">
-      <screen x="1440" y="-782" width="1200" height="1920" />
+    <state width="1158" height="716" key="GridCell.Tab.3.right" timestamp="1607657084440">
+      <screen x="1440" y="-757" width="1200" height="1895" />
     </state>
     <state width="1158" height="738" key="GridCell.Tab.3.right/0.0.1440.900/2640.-782.1200.1920/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607640745287" />
-    <state width="1158" height="717" key="GridCell.Tab.3.right/0.25.1440.798/2640.-757.1200.1895/1440.-757.1200.1895@1440.-757.1200.1895" timestamp="1607639483784" />
+    <state width="1158" height="716" key="GridCell.Tab.3.right/0.25.1440.798/2640.-757.1200.1895/1440.-757.1200.1895@1440.-757.1200.1895" timestamp="1607657084440" />
     <state width="1158" height="738" key="GridCell.Tab.3.right/0.25.1440.798/2640.-757.1200.1895/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607640704054" />
     <state x="1640" y="-86" key="Rider.ProjectTemplateDialog.Size" timestamp="1607640243485">
       <screen x="1440" y="-782" width="1200" height="1920" />
diff --git a/ConsoleApp/Maps/HexCell.cs b/ConsoleApp/Maps/HexCell.cs
index 8466a88..d396ff0 100644
--- a/ConsoleApp/Maps/HexCell.cs
+++ b/ConsoleApp/Maps/HexCell.cs
@@ -5,15 +5,15 @@ namespace ConsoleApp.Maps
 {
     public struct HexCell : IHexCell
     {
-        public int Q { get; }
-        public int R { get; }
-        public int S { get; }
+        public int X { get; }
+        public int Y { get; }
+        public int Z { get; }
         public HexCell(int q, int r, int s)
         {
             if (q + r + s != 0) throw new ArgumentException("q + r + s must be 0");
-            Q = q;
-            R = r;
-            S = s;
+            X = q;
+            Y = r;
+            Z = s;
         }
   
     }
diff --git a/ConsoleApp/Maps/HexMap.cs b/ConsoleApp/Maps/HexMap.cs
index 2ed8bd6..241f32c 100644
--- a/ConsoleApp/Maps/HexMap.cs
+++ b/ConsoleApp/Maps/HexMap.cs
@@ -3,21 +3,23 @@ using System.Collections.Generic;
 
 namespace ConsoleApp.Maps
 {
-    public class HexMap
+    public class HexMap : IHexMap
     {
         private HexCell[,] Map { get; }
 
         public HexMap(int x, int y)
         {
+            Map = new HexCell[x+1,y+1];
             for (int r = 0; r < y; r++) {
                 int r_offset = Convert.ToInt32(Math.Floor(Convert.ToDouble(r)/2));
-                for (int q = -r_offset; q < x - r_offset; q++) {
+                for (int q = r_offset; q < x - r_offset; q++) {
+                    // Console.WriteLine($"r:{r}, q:{q}-----x:{x}, y:{y}");
                     Map[r, q] = new HexCell(q, r, -q-r);
                 }
             }
         }
 
-        public List<ICell> PossibleMoves(HexCell fromCell, Direction direction, Double orientation)
+        public List<ICell> PossibleMoves(ICell currentCell)
         {
             throw new NotImplementedException();
         }
diff --git a/ConsoleApp/Maps/ICell.cs b/ConsoleApp/Maps/ICell.cs
index 7f50db6..034be3f 100644
--- a/ConsoleApp/Maps/ICell.cs
+++ b/ConsoleApp/Maps/ICell.cs
@@ -2,6 +2,8 @@ namespace ConsoleApp.Maps
 {
     public interface ICell
     {
-        
+        int X { get; }
+        int Y { get; }
+        int Z { get; }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/IHexMap.cs b/ConsoleApp/Maps/IHexMap.cs
index e183efe..b4cd82f 100644
--- a/ConsoleApp/Maps/IHexMap.cs
+++ b/ConsoleApp/Maps/IHexMap.cs
@@ -1,6 +1,6 @@
 namespace ConsoleApp.Maps
 {
-    public interface IHexMap
+    public interface IHexMap : IMap
     {
         
     }
diff --git a/ConsoleApp/Maps/IMap.cs b/ConsoleApp/Maps/IMap.cs
index 1fbbdad..e2010ed 100644
--- a/ConsoleApp/Maps/IMap.cs
+++ b/ConsoleApp/Maps/IMap.cs
@@ -4,6 +4,6 @@ namespace ConsoleApp.Maps
 {
     public interface IMap
     {
-        public List<ICell> PossibleMoves();
+        public List<ICell> PossibleMoves(ICell currentCell);
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/IMapFactory.cs b/ConsoleApp/Maps/IMapFactory.cs
index 6630a5b..079298d 100644
--- a/ConsoleApp/Maps/IMapFactory.cs
+++ b/ConsoleApp/Maps/IMapFactory.cs
@@ -1,3 +1,4 @@
+using System.Collections.Generic;
 using System.Dynamic;
 
 namespace ConsoleApp.Maps
@@ -6,7 +7,7 @@ namespace ConsoleApp.Maps
     {
         int Height { get; }
         int Width { get; }
-        SquareMap SquareMap { get; }
+        Dictionary<string, IMap> Maps { get; }
         void GenerateMaps(int x, int y);
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/ISquareCell.cs b/ConsoleApp/Maps/ISquareCell.cs
index 2ef5168..ae83d9e 100644
--- a/ConsoleApp/Maps/ISquareCell.cs
+++ b/ConsoleApp/Maps/ISquareCell.cs
@@ -2,7 +2,7 @@ namespace ConsoleApp.Maps
 {
     public interface ISquareCell : ICell
     {
-        int X { get; }
-        int Y { get; }
+        new int X { get; }
+        new int Y { get; }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/ISquareMap.cs b/ConsoleApp/Maps/ISquareMap.cs
index 494a3b5..ccdd19a 100644
--- a/ConsoleApp/Maps/ISquareMap.cs
+++ b/ConsoleApp/Maps/ISquareMap.cs
@@ -1,6 +1,6 @@
 namespace ConsoleApp.Maps
 {
-    public interface ISquareMap
+    public interface ISquareMap : IMap
     {
         
     }
diff --git a/ConsoleApp/Maps/MapFactory.cs b/ConsoleApp/Maps/MapFactory.cs
index 5f4d1dc..0d55898 100644
--- a/ConsoleApp/Maps/MapFactory.cs
+++ b/ConsoleApp/Maps/MapFactory.cs
@@ -1,3 +1,5 @@
+using System.Collections.Generic;
+
 namespace ConsoleApp.Maps
 {
     public class MapFactory : IMapFactory
@@ -6,15 +8,16 @@ namespace ConsoleApp.Maps
         private int _defaultWidth;
         public int Height { get; protected set; }
         public int Width { get; protected set; }
-        public SquareMap SquareMap { get; }
-        public HexMap HexMap { get; }
-        
-        
+
+        public Dictionary<string, IMap> Maps { get; }
+
+
         public void GenerateMaps(int x, int y)
         {
             Width = x;
             Height = y;
-            new SquareMap(x, y);
+            Maps.Add("SquareMap",new SquareMap(x, y));
+            Maps.Add("HexMap", new HexMap(x, y));
         }
 
         public MapFactory()
@@ -23,6 +26,7 @@ namespace ConsoleApp.Maps
             _defaultWidth = 0;
             Height = _defaultHeight;
             Width = _defaultWidth;
+            Maps = new Dictionary<string, IMap>();
         }
         
     }
diff --git a/ConsoleApp/Maps/SquareCell.cs b/ConsoleApp/Maps/SquareCell.cs
index d237b5d..ae6fc38 100644
--- a/ConsoleApp/Maps/SquareCell.cs
+++ b/ConsoleApp/Maps/SquareCell.cs
@@ -4,11 +4,13 @@ namespace ConsoleApp.Maps
     {
         public int X { get; }
         public int Y { get; }
+        public int Z { get; }
 
         public SquareCell(int x, int y)
         {
             X = x;
             Y = y;
+            Z = default;
         }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/SquareMap.cs b/ConsoleApp/Maps/SquareMap.cs
index a0583e5..635a3ff 100644
--- a/ConsoleApp/Maps/SquareMap.cs
+++ b/ConsoleApp/Maps/SquareMap.cs
@@ -19,12 +19,12 @@ namespace ConsoleApp.Maps
             }
         }
 
-        public List<ICell> PossibleMoves(SquareCell myCell)
+        public List<ICell> PossibleMoves(ICell currentCell)
         {
-            var forward = (myCell.X , myCell.Y + 1);
-            var backwards= (myCell.X , myCell.Y - 1);
-            var right = (myCell.X + 1, myCell.Y);
-            var left = (myCell.X - 1, myCell.Y);
+            var forward = (currentCell.X , currentCell.Y + 1);
+            var backwards= (currentCell.X , currentCell.Y - 1);
+            var right = (currentCell.X + 1, currentCell.Y);
+            var left = (currentCell.X - 1, currentCell.Y);
             var possibles = new List<ICell>();
             possibles.Add(Map[forward.Item1, forward.Item2]);
             possibles.Add(Map[backwards.Item1, backwards.Item2]);
diff --git a/ConsoleApp/SimRunner.cs b/ConsoleApp/SimRunner.cs
index 3821e78..4473388 100644
--- a/ConsoleApp/SimRunner.cs
+++ b/ConsoleApp/SimRunner.cs
@@ -13,7 +13,7 @@ namespace ConsoleApp
 
         public void Run()
         {
-            throw new System.NotImplementedException();
+            
         }
     }
 }
\ No newline at end of file

From 3fee402da1e7512d3121be15f49f887dd1e95eb6 Mon Sep 17 00:00:00 2001
From: Brady Bodily <bradybod@gmail.com>
Date: Thu, 10 Dec 2020 21:01:23 -0700
Subject: [PATCH 05/13] Added deserializor and vehicle configuration

---
 ConsoleApp/IJsonDeserializor.cs      | 4 ++++
 ConsoleApp/IVehicle.cs               | 4 ++++
 ConsoleApp/JsonDeserializor.cs       | 4 ++++
 ConsoleApp/Vehicle.cs                | 4 ++++
 ConsoleApp/VehicleConfiguration.cs   | 4 ++++
 ConsoleApp/VehicleConfiguration.json | 3 +++
 6 files changed, 23 insertions(+)
 create mode 100644 ConsoleApp/IJsonDeserializor.cs
 create mode 100644 ConsoleApp/IVehicle.cs
 create mode 100644 ConsoleApp/JsonDeserializor.cs
 create mode 100644 ConsoleApp/Vehicle.cs
 create mode 100644 ConsoleApp/VehicleConfiguration.cs
 create mode 100644 ConsoleApp/VehicleConfiguration.json

diff --git a/ConsoleApp/IJsonDeserializor.cs b/ConsoleApp/IJsonDeserializor.cs
new file mode 100644
index 0000000..4d79ed9
--- /dev/null
+++ b/ConsoleApp/IJsonDeserializor.cs
@@ -0,0 +1,4 @@
+$HEADER$namespace $NAMESPACE$
+{
+  public interface $INTERFACE$ {$END$}
+}
\ No newline at end of file
diff --git a/ConsoleApp/IVehicle.cs b/ConsoleApp/IVehicle.cs
new file mode 100644
index 0000000..4d79ed9
--- /dev/null
+++ b/ConsoleApp/IVehicle.cs
@@ -0,0 +1,4 @@
+$HEADER$namespace $NAMESPACE$
+{
+  public interface $INTERFACE$ {$END$}
+}
\ No newline at end of file
diff --git a/ConsoleApp/JsonDeserializor.cs b/ConsoleApp/JsonDeserializor.cs
new file mode 100644
index 0000000..9b781fd
--- /dev/null
+++ b/ConsoleApp/JsonDeserializor.cs
@@ -0,0 +1,4 @@
+$HEADER$namespace $NAMESPACE$
+{
+  public class $CLASS$ {$END$}
+}
\ No newline at end of file
diff --git a/ConsoleApp/Vehicle.cs b/ConsoleApp/Vehicle.cs
new file mode 100644
index 0000000..9b781fd
--- /dev/null
+++ b/ConsoleApp/Vehicle.cs
@@ -0,0 +1,4 @@
+$HEADER$namespace $NAMESPACE$
+{
+  public class $CLASS$ {$END$}
+}
\ No newline at end of file
diff --git a/ConsoleApp/VehicleConfiguration.cs b/ConsoleApp/VehicleConfiguration.cs
new file mode 100644
index 0000000..9b781fd
--- /dev/null
+++ b/ConsoleApp/VehicleConfiguration.cs
@@ -0,0 +1,4 @@
+$HEADER$namespace $NAMESPACE$
+{
+  public class $CLASS$ {$END$}
+}
\ No newline at end of file
diff --git a/ConsoleApp/VehicleConfiguration.json b/ConsoleApp/VehicleConfiguration.json
new file mode 100644
index 0000000..0e0dcd2
--- /dev/null
+++ b/ConsoleApp/VehicleConfiguration.json
@@ -0,0 +1,3 @@
+{
+
+}
\ No newline at end of file

From 2c5f0b73b92c2f598257b1bffbcb52632c896456 Mon Sep 17 00:00:00 2001
From: Brady Bodily <bradybod@gmail.com>
Date: Thu, 10 Dec 2020 21:18:15 -0700
Subject: [PATCH 06/13] Added detector info

---
 .DS_Store                                     | Bin 0 -> 6148 bytes
 .../.idea/contentModel.xml                    |   6 ++
 .../.idea.RobotIntelFinal/.idea/workspace.xml |  59 +++++++++++-------
 ConsoleApp/ConsoleApp.csproj                  |   6 ++
 ConsoleApp/CoreModule.cs                      |   3 +
 ConsoleApp/IJsonDeserializor.cs               |   7 ++-
 ConsoleApp/IVehicle.cs                        |   9 ++-
 ConsoleApp/JsonDeserializor.cs                |  15 ++++-
 ConsoleApp/SimRunner.cs                       |   2 +-
 ConsoleApp/Vehicle.cs                         |  24 ++++++-
 ConsoleApp/VehicleConfiguration.cs            |  10 ++-
 ConsoleApp/VehicleConfiguration.json          |   5 +-
 12 files changed, 112 insertions(+), 34 deletions(-)
 create mode 100644 .DS_Store

diff --git a/.DS_Store b/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..6ef9ce98dd62c1c5e55dd82bffbdd4131de05f09
GIT binary patch
literal 6148
zcmeHK&2AGh5S~c`Bq`8M)09?lh{y%0mm+aRUD6^5JtQ<0N>m`^$4OUg?bYrkp`7vr
zJOB^C3vl5DcnL1N00&N-nOVD(kRowHh<YN=H#<MJ{B3Nn0RStb{%rsU05a4V(>YRS
z2*<h2Ny>N_G3i5r4+8E%KtC&%0n5O@&H%679BhLE2@&ZZ>(}dzgRZZ-w6x!M1K*3{
z&CSn_gQ<n|g^QOm+1%pgD_57C{Bj|`k}nnutJjKa>+9FsPNCcBy&Q&WB>UUSS7F5;
ziKf?6vf;fJ%~-sO*=Re<zvS(S{_|7U{&7G#E2oa6uLq$J@?aQx{n}s<iMaWb-D*2a
zQ7=@!UssVAdrG#RMu%!rjm1$_4it?z_Qa$Xa432r!iaFLrrGL*VMh){<@lN3=?cFl
zD=LoF5odC5G?98JxTj?7M$qYba#-H_s^4_kt)CdTwBbNm8?=i$xG$9y*=*U}HO>rd
z(1!U48gK{`cmr?Y9ejX~@Cm-aH%#Ly-oy>OgLiQYA7T}Ev5t>%PgkdC+fC$#K?8U|
z#+k2m+z6$w<dEVgwX>!6>D(}2{s5W9b2DQ*QOkg3;7=Lg{h>sS(KR^Lm~0)S`166|
zX+{>Z`7Xg&GUytdYNQAW>QX{oisp)ex}5waljj<oYSiU`$;i}?85zwD1(VUqUrN#e
zU5!>-1}p=!3@qqJhtL1}zrX*_7TG7ufMwvnVgS=SjhzZj$(*foljF0tMC}DN7S5Y$
nOiD<Z<2W(+C|;wM2*pZl5V{7Z8p%UqKLipQtg;OJRR+ETjcAek

literal 0
HcmV?d00001

diff --git a/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml b/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
index 1a4249f..64afb13 100644
--- a/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
+++ b/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
@@ -7,9 +7,12 @@
         <e p="Bootstrapper.cs" t="Include" />
         <e p="ConsoleApp.csproj" t="IncludeRecursive" />
         <e p="CoreModule.cs" t="Include" />
+        <e p="IJsonDeserializor.cs" t="Include" />
         <e p="IModule.cs" t="Include" />
         <e p="ISimRunner.cs" t="Include" />
         <e p="IUserConsole.cs" t="Include" />
+        <e p="IVehicle.cs" t="Include" />
+        <e p="JsonDeserializor.cs" t="Include" />
         <e p="Maps" t="Include">
           <e p="Direction.cs" t="Include" />
           <e p="Heading.cs" t="Include" />
@@ -36,6 +39,9 @@
         <e p="Program.cs" t="Include" />
         <e p="SimRunner.cs" t="Include" />
         <e p="UserConsole.cs" t="Include" />
+        <e p="Vehicle.cs" t="Include" />
+        <e p="VehicleConfiguration.cs" t="Include" />
+        <e p="VehicleConfiguration.json" t="Include" />
       </e>
       <e p="packages" t="ExcludeRecursive" />
       <e p="RobotIntelFinal.sln" t="IncludeFlat" />
diff --git a/.idea/.idea.RobotIntelFinal/.idea/workspace.xml b/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
index 5c35923..976b0fd 100644
--- a/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
+++ b/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
@@ -15,25 +15,30 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="dafcaeb7-80aa-43a3-a480-786fafb78c0b" name="Default Changelist" comment="">
+      <change afterPath="$PROJECT_DIR$/ConsoleApp/IJsonDeserializor.cs" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/ConsoleApp/IVehicle.cs" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/ConsoleApp/JsonDeserializor.cs" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/ConsoleApp/VehicleConfiguration.cs" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/ConsoleApp/VehicleConfiguration.json" 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/Maps/HexCell.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/HexCell.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/ICell.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/ICell.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/IMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/IMap.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/ISquareCell.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/ISquareCell.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/ISquareMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/ISquareMap.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/SquareCell.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/SquareCell.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/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/SimRunner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
     <option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
     <option name="LAST_RESOLUTION" value="IGNORE" />
   </component>
+  <component name="FileTemplateManagerImpl">
+    <option name="RECENT_TEMPLATES">
+      <list>
+        <option value="JSON File" />
+      </list>
+    </option>
+  </component>
   <component name="Git.Settings">
     <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
   </component>
@@ -57,10 +62,8 @@
         <option value="$PROJECT_DIR$/ConsoleApp/IMapFactory.cs" />
         <option value="$PROJECT_DIR$/ConsoleApp/Bootstrapper.cs" />
         <option value="$PROJECT_DIR$/ConsoleApp/ISimRunner.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" />
         <option value="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" />
         <option value="$PROJECT_DIR$/ConsoleApp/Program.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/CoreModule.cs" />
         <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMapManager.cs" />
         <option value="$PROJECT_DIR$/ConsoleApp/Maps/Direction.cs" />
         <option value="$PROJECT_DIR$/ConsoleApp/Maps/Heading.cs" />
@@ -77,6 +80,14 @@
         <option value="$PROJECT_DIR$/ConsoleApp/Maps/ISquareCell.cs" />
         <option value="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.cs" />
         <option value="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" />
+        <option value="$PROJECT_DIR$/ConsoleApp/VehicleConfiguration.cs" />
+        <option value="$PROJECT_DIR$/ConsoleApp/JsonDeserializor.cs" />
+        <option value="$PROJECT_DIR$/ConsoleApp/IJsonDeserializor.cs" />
+        <option value="$PROJECT_DIR$/ConsoleApp/CoreModule.cs" />
+        <option value="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" />
+        <option value="$PROJECT_DIR$/ConsoleApp/IVehicle.cs" />
+        <option value="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" />
+        <option value="$PROJECT_DIR$/ConsoleApp/VehicleConfiguration.json" />
       </list>
     </option>
   </component>
@@ -146,7 +157,7 @@
       <workItem from="1607286402206" duration="6845000" />
       <workItem from="1607640133651" duration="318000" />
       <workItem from="1607640470920" duration="58000" />
-      <workItem from="1607640550443" duration="9566000" />
+      <workItem from="1607640550443" duration="11201000" />
     </task>
     <servers />
   </component>
@@ -171,30 +182,34 @@
     <option name="CLEAR_INITIAL_COMMIT_MESSAGE" value="true" />
   </component>
   <component name="WindowStateProjectService">
-    <state width="1158" height="563" key="GridCell.Tab.0.bottom" timestamp="1607657316327">
+    <state width="1158" height="563" key="GridCell.Tab.0.bottom" timestamp="1607658943689">
       <screen x="1440" y="-757" width="1200" height="1895" />
     </state>
     <state width="1158" height="581" key="GridCell.Tab.0.bottom/0.0.1440.900/2640.-782.1200.1920/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607641515103" />
-    <state width="1158" height="563" key="GridCell.Tab.0.bottom/0.25.1440.798/2640.-757.1200.1895/1440.-757.1200.1895@1440.-757.1200.1895" timestamp="1607657316327" />
+    <state width="1158" height="563" key="GridCell.Tab.0.bottom/0.25.1440.798/2640.-757.1200.1895/1440.-757.1200.1895@1440.-757.1200.1895" timestamp="1607657415855" />
     <state width="1158" height="581" key="GridCell.Tab.0.bottom/0.25.1440.798/2640.-757.1200.1895/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607641379864" />
-    <state width="1158" height="563" key="GridCell.Tab.0.center" timestamp="1607657316326">
+    <state width="1158" height="563" key="GridCell.Tab.0.bottom/0.25.1440.875/2640.-757.1200.1895/1440.-757.1200.1895@1440.-757.1200.1895" timestamp="1607658943689" />
+    <state width="1158" height="563" key="GridCell.Tab.0.center" timestamp="1607658943688">
       <screen x="1440" y="-757" width="1200" height="1895" />
     </state>
     <state width="1158" height="581" key="GridCell.Tab.0.center/0.0.1440.900/2640.-782.1200.1920/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607641515101" />
-    <state width="1158" height="563" key="GridCell.Tab.0.center/0.25.1440.798/2640.-757.1200.1895/1440.-757.1200.1895@1440.-757.1200.1895" timestamp="1607657316326" />
+    <state width="1158" height="563" key="GridCell.Tab.0.center/0.25.1440.798/2640.-757.1200.1895/1440.-757.1200.1895@1440.-757.1200.1895" timestamp="1607657415853" />
     <state width="1158" height="581" key="GridCell.Tab.0.center/0.25.1440.798/2640.-757.1200.1895/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607641379862" />
-    <state width="1158" height="563" key="GridCell.Tab.0.left" timestamp="1607657316325">
+    <state width="1158" height="563" key="GridCell.Tab.0.center/0.25.1440.875/2640.-757.1200.1895/1440.-757.1200.1895@1440.-757.1200.1895" timestamp="1607658943688" />
+    <state width="1158" height="563" key="GridCell.Tab.0.left" timestamp="1607658943687">
       <screen x="1440" y="-757" width="1200" height="1895" />
     </state>
     <state width="1158" height="581" key="GridCell.Tab.0.left/0.0.1440.900/2640.-782.1200.1920/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607641515100" />
-    <state width="1158" height="563" key="GridCell.Tab.0.left/0.25.1440.798/2640.-757.1200.1895/1440.-757.1200.1895@1440.-757.1200.1895" timestamp="1607657316325" />
+    <state width="1158" height="563" key="GridCell.Tab.0.left/0.25.1440.798/2640.-757.1200.1895/1440.-757.1200.1895@1440.-757.1200.1895" timestamp="1607657415853" />
     <state width="1158" height="581" key="GridCell.Tab.0.left/0.25.1440.798/2640.-757.1200.1895/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607641379861" />
-    <state width="1158" height="563" key="GridCell.Tab.0.right" timestamp="1607657316326">
+    <state width="1158" height="563" key="GridCell.Tab.0.left/0.25.1440.875/2640.-757.1200.1895/1440.-757.1200.1895@1440.-757.1200.1895" timestamp="1607658943687" />
+    <state width="1158" height="563" key="GridCell.Tab.0.right" timestamp="1607658943688">
       <screen x="1440" y="-757" width="1200" height="1895" />
     </state>
     <state width="1158" height="581" key="GridCell.Tab.0.right/0.0.1440.900/2640.-782.1200.1920/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607641515102" />
-    <state width="1158" height="563" key="GridCell.Tab.0.right/0.25.1440.798/2640.-757.1200.1895/1440.-757.1200.1895@1440.-757.1200.1895" timestamp="1607657316326" />
+    <state width="1158" height="563" key="GridCell.Tab.0.right/0.25.1440.798/2640.-757.1200.1895/1440.-757.1200.1895@1440.-757.1200.1895" timestamp="1607657415854" />
     <state width="1158" height="581" key="GridCell.Tab.0.right/0.25.1440.798/2640.-757.1200.1895/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607641379863" />
+    <state width="1158" height="563" key="GridCell.Tab.0.right/0.25.1440.875/2640.-757.1200.1895/1440.-757.1200.1895@1440.-757.1200.1895" timestamp="1607658943688" />
     <state width="1158" height="716" key="GridCell.Tab.1.bottom" timestamp="1607657084436">
       <screen x="1440" y="-757" width="1200" height="1895" />
     </state>
diff --git a/ConsoleApp/ConsoleApp.csproj b/ConsoleApp/ConsoleApp.csproj
index cca39f4..46562ba 100644
--- a/ConsoleApp/ConsoleApp.csproj
+++ b/ConsoleApp/ConsoleApp.csproj
@@ -9,4 +9,10 @@
       <PackageReference Include="DryIoc.dll" Version="4.5.2" />
     </ItemGroup>
 
+    <ItemGroup>
+      <None Update="VehicleConfiguration.json">
+        <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
+      </None>
+    </ItemGroup>
+
 </Project>
diff --git a/ConsoleApp/CoreModule.cs b/ConsoleApp/CoreModule.cs
index 9829a46..de3521f 100644
--- a/ConsoleApp/CoreModule.cs
+++ b/ConsoleApp/CoreModule.cs
@@ -1,3 +1,4 @@
+using System.Text.Json;
 using System.Threading;
 using ConsoleApp.Maps;
 using DryIoc;
@@ -10,6 +11,8 @@ namespace ConsoleApp
         {
             container.Register<IMapFactory, MapFactory>(Reuse.Singleton);
             container.Register<ISimRunner, SimRunner>(Reuse.Singleton);
+            container.Register<IVehicle, Vehicle>(Reuse.Singleton);
+            container.Register<IJsonDeserializor, JsonDeserializor>(Reuse.Singleton);
         }
         
 
diff --git a/ConsoleApp/IJsonDeserializor.cs b/ConsoleApp/IJsonDeserializor.cs
index 4d79ed9..2b43207 100644
--- a/ConsoleApp/IJsonDeserializor.cs
+++ b/ConsoleApp/IJsonDeserializor.cs
@@ -1,4 +1,7 @@
-$HEADER$namespace $NAMESPACE$
+namespace ConsoleApp
 {
-  public interface $INTERFACE$ {$END$}
+    public interface IJsonDeserializor
+    {
+        T DeserializeObject<T>(string filePath);
+    }
 }
\ No newline at end of file
diff --git a/ConsoleApp/IVehicle.cs b/ConsoleApp/IVehicle.cs
index 4d79ed9..0e26262 100644
--- a/ConsoleApp/IVehicle.cs
+++ b/ConsoleApp/IVehicle.cs
@@ -1,4 +1,9 @@
-$HEADER$namespace $NAMESPACE$
+namespace ConsoleApp
 {
-  public interface $INTERFACE$ {$END$}
+    public interface IVehicle
+    {
+        int Length { get; }
+        int Width { get; }
+        int DetectorWidth { get; }
+    }
 }
\ No newline at end of file
diff --git a/ConsoleApp/JsonDeserializor.cs b/ConsoleApp/JsonDeserializor.cs
index 9b781fd..244832e 100644
--- a/ConsoleApp/JsonDeserializor.cs
+++ b/ConsoleApp/JsonDeserializor.cs
@@ -1,4 +1,15 @@
-$HEADER$namespace $NAMESPACE$
+using System;
+using System.IO;
+using System.Text.Json;
+
+namespace ConsoleApp
 {
-  public class $CLASS$ {$END$}
+    public class JsonDeserializor : IJsonDeserializor
+    {
+        public T DeserializeObject<T>(string filePath)
+        {
+            var jString = File.ReadAllText(filePath);
+            return JsonSerializer.Deserialize<T>(jString);
+        }
+    }
 }
\ No newline at end of file
diff --git a/ConsoleApp/SimRunner.cs b/ConsoleApp/SimRunner.cs
index 4473388..04a2849 100644
--- a/ConsoleApp/SimRunner.cs
+++ b/ConsoleApp/SimRunner.cs
@@ -6,7 +6,7 @@ namespace ConsoleApp
     {
         private IMapFactory _mapFactory;
 
-        public SimRunner(IMapFactory mapFactory)
+        public SimRunner(IMapFactory mapFactory, IVehicle vehicle)
         {
             _mapFactory = mapFactory;
         }
diff --git a/ConsoleApp/Vehicle.cs b/ConsoleApp/Vehicle.cs
index 9b781fd..b8c254a 100644
--- a/ConsoleApp/Vehicle.cs
+++ b/ConsoleApp/Vehicle.cs
@@ -1,4 +1,24 @@
-$HEADER$namespace $NAMESPACE$
+using System;
+
+namespace ConsoleApp
 {
-  public class $CLASS$ {$END$}
+    public class Vehicle : IVehicle
+    {
+        public int Length { get; }
+        public int Width { get; }
+
+        public int DetectorOffset { get;}
+        public int DetectorWidth { get;}
+        
+        public Vehicle(IJsonDeserializor jsonDeserializor)
+        {
+            var config = jsonDeserializor.DeserializeObject<VehicleConfiguration>("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/VehicleConfiguration.json");
+            Length = config.Length;
+            Width = config.Width;
+            DetectorWidth = config.DetectorWidth;
+            DetectorOffset = config.DetectorOffset;
+        }
+
+
+    }
 }
\ No newline at end of file
diff --git a/ConsoleApp/VehicleConfiguration.cs b/ConsoleApp/VehicleConfiguration.cs
index 9b781fd..2b84226 100644
--- a/ConsoleApp/VehicleConfiguration.cs
+++ b/ConsoleApp/VehicleConfiguration.cs
@@ -1,4 +1,10 @@
-$HEADER$namespace $NAMESPACE$
+namespace ConsoleApp
 {
-  public class $CLASS$ {$END$}
+    public class VehicleConfiguration
+    {
+        public int Length { get; set; }
+        public int Width { get; set; }
+        public int DetectorWidth { get; set; }
+        public int DetectorOffset { get; set; }
+    }
 }
\ No newline at end of file
diff --git a/ConsoleApp/VehicleConfiguration.json b/ConsoleApp/VehicleConfiguration.json
index 0e0dcd2..aaa1b9f 100644
--- a/ConsoleApp/VehicleConfiguration.json
+++ b/ConsoleApp/VehicleConfiguration.json
@@ -1,3 +1,6 @@
 {
-
+  "Length": 3,
+  "Width": 2,
+  "DetectorWidth": 3,
+  "DetectorOffset": 1
 }
\ No newline at end of file

From d63066c150b308c8bfc2c9e8cd16df3d449a13da Mon Sep 17 00:00:00 2001
From: Brady Bodily <bradybod@gmail.com>
Date: Mon, 14 Dec 2020 16:08:59 -0700
Subject: [PATCH 07/13] Backup

Working through some localization stuff will probably be pretty fluid.
---
 .../.idea/contentModel.xml                    |  11 +-
 .idea/.idea.RobotIntelFinal/.idea/modules.xml |   2 +-
 .../.idea.RobotIntelFinal/.idea/workspace.xml | 205 +++---------------
 ConsoleApp/ConsoleApp.csproj                  |   8 +
 ConsoleApp/IVehicle.cs                        |   9 +-
 ConsoleApp/Maps/Cell.cs                       |  23 ++
 ConsoleApp/Maps/Heading.cs                    |  32 ++-
 ConsoleApp/Maps/HexCell.cs                    |  20 --
 ConsoleApp/Maps/HexMap.cs                     |  26 ++-
 ConsoleApp/Maps/IHexCell.cs                   |   7 -
 ConsoleApp/Maps/IMap.cs                       |   4 +
 ConsoleApp/Maps/IMapFactory.cs                |   1 +
 ConsoleApp/Maps/ISquareCell.cs                |   8 -
 ConsoleApp/Maps/MapFactory.cs                 |   4 +-
 ConsoleApp/Maps/SquareCell.cs                 |  16 --
 ConsoleApp/Maps/SquareMap.cs                  |  17 +-
 ConsoleApp/SimRunner.cs                       |  48 ++++
 ConsoleApp/Vehicle.cs                         |  13 +-
 RobotIntelFinal.sln.DotSettings.user          |   3 +-
 19 files changed, 199 insertions(+), 258 deletions(-)
 create mode 100644 ConsoleApp/Maps/Cell.cs
 delete mode 100644 ConsoleApp/Maps/HexCell.cs
 delete mode 100644 ConsoleApp/Maps/IHexCell.cs
 delete mode 100644 ConsoleApp/Maps/ISquareCell.cs
 delete mode 100644 ConsoleApp/Maps/SquareCell.cs

diff --git a/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml b/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
index 64afb13..5a947e0 100644
--- a/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
+++ b/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
@@ -14,23 +14,20 @@
         <e p="IVehicle.cs" t="Include" />
         <e p="JsonDeserializor.cs" t="Include" />
         <e p="Maps" t="Include">
+          <e p="Cell.cs" t="Include" />
           <e p="Direction.cs" t="Include" />
           <e p="Heading.cs" t="Include" />
-          <e p="HexCell.cs" t="Include" />
           <e p="HexMap.cs" t="Include" />
           <e p="ICell.cs" t="Include" />
-          <e p="IHexCell.cs" t="Include" />
           <e p="IHexMap.cs" t="Include" />
           <e p="IMap.cs" t="Include" />
           <e p="IMapFactory.cs" t="Include" />
-          <e p="ISquareCell.cs" t="Include" />
           <e p="ISquareMap.cs" t="Include" />
           <e p="MapFactory.cs" t="Include" />
-          <e p="SquareCell.cs" t="Include" />
           <e p="SquareMap.cs" t="Include" />
         </e>
         <e p="obj" t="ExcludeRecursive">
-          <e p="Debug" t="Include">
+          <e p="Release" t="Include">
             <e p="netcoreapp3.1" t="Include">
               <e p="ConsoleApp.AssemblyInfo.cs" t="Include" />
             </e>
@@ -46,7 +43,7 @@
       <e p="packages" t="ExcludeRecursive" />
       <e p="RobotIntelFinal.sln" t="IncludeFlat" />
     </e>
-    <e p="$USER_HOME$/Library/Caches/JetBrains/Rider2020.2/extResources" t="IncludeRecursive" />
-    <e p="$USER_HOME$/Library/Caches/JetBrains/Rider2020.2/resharper-host/local/Transient/Rider/v202/SolutionCaches/_RobotIntelFinal.-1349721189.00" t="ExcludeRecursive" />
+    <e p="$USER_HOME$/Library/Caches/JetBrains/Rider2020.3/extResources" t="IncludeRecursive" />
+    <e p="$USER_HOME$/Library/Caches/JetBrains/Rider2020.3/resharper-host/local/Transient/Rider/v203/SolutionCaches/_RobotIntelFinal.-1349721189.00" t="ExcludeRecursive" />
   </component>
 </project>
\ No newline at end of file
diff --git a/.idea/.idea.RobotIntelFinal/.idea/modules.xml b/.idea/.idea.RobotIntelFinal/.idea/modules.xml
index d3cdc38..3bdf19a 100644
--- a/.idea/.idea.RobotIntelFinal/.idea/modules.xml
+++ b/.idea/.idea.RobotIntelFinal/.idea/modules.xml
@@ -2,7 +2,7 @@
 <project version="4">
   <component name="ProjectModuleManager">
     <modules>
-      <module fileurl="file://$PROJECT_DIR$/.idea/.idea.RobotIntelFinal/riderModule.iml" filepath="$PROJECT_DIR$/.idea/.idea.RobotIntelFinal/riderModule.iml" />
+      <module fileurl="file://$PROJECT_DIR$/.idea/.idea.RobotIntelFinal/.idea/riderModule.iml" filepath="$PROJECT_DIR$/.idea/.idea.RobotIntelFinal/.idea/riderModule.iml" />
     </modules>
   </component>
 </project>
\ No newline at end of file
diff --git a/.idea/.idea.RobotIntelFinal/.idea/workspace.xml b/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
index 976b0fd..054c27e 100644
--- a/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
+++ b/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
@@ -4,6 +4,9 @@
     <projectFile>Simulator/Simulator.csproj</projectFile>
     <projectFile>ConsoleApp/ConsoleApp.csproj</projectFile>
   </component>
+  <component name="AutoImportSettings">
+    <option name="autoReloadType" value="SELECTIVE" />
+  </component>
   <component name="BranchesTreeState">
     <expand>
       <path>
@@ -15,17 +18,24 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="dafcaeb7-80aa-43a3-a480-786fafb78c0b" name="Default Changelist" comment="">
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/IJsonDeserializor.cs" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/IVehicle.cs" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/JsonDeserializor.cs" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/VehicleConfiguration.cs" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/VehicleConfiguration.json" 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/modules.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/.idea.RobotIntelFinal/.idea/modules.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/IVehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/IVehicle.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/Heading.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/Heading.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/HexCell.cs" beforeDir="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/IHexCell.cs" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/IMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/IMap.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/ISquareCell.cs" beforeDir="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/SquareCell.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/Cell.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/SimRunner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/RobotIntelFinal.sln.DotSettings.user" beforeDir="false" afterPath="$PROJECT_DIR$/RobotIntelFinal.sln.DotSettings.user" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -42,54 +52,13 @@
   <component name="Git.Settings">
     <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
   </component>
+  <component name="HighlightingSettingsPerFile">
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/8B2EA1A3-95EB-49F7-AF97-CA55CE776F10/4/Container.cs" root0="SKIP_HIGHLIGHTING" />
+  </component>
   <component name="IdeDocumentHistory">
-    <option name="CHANGED_PATHS">
-      <list>
-        <option value="$PROJECT_DIR$/Simulator/Program.cs" />
-        <option value="$PROJECT_DIR$/Simulator/CoreModule.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/IModule.cs" />
-        <option value="$PROJECT_DIR$/Simulator/SimulatorModule.cs" />
-        <option value="$PROJECT_DIR$/Simulator/NetworkInterfaceFactory.cs" />
-        <option value="$PROJECT_DIR$/Simulator/INetworkInterfaceFactory.cs" />
-        <option value="$PROJECT_DIR$/Simulator/NetworkInterface.cs" />
-        <option value="$PROJECT_DIR$/Simulator/Networking/NetworkInterfaceFactory.cs" />
-        <option value="$PROJECT_DIR$/Simulator/Networking/INetworkInterfaceFactory.cs" />
-        <option value="$PROJECT_DIR$/Simulator/Networking/INetworkInterface.cs" />
-        <option value="$PROJECT_DIR$/Simulator/Networking/NetworkInterface.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/IUserConsole.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Module.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/MapFactory.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/IMapFactory.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Bootstrapper.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/ISimRunner.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Program.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMapManager.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Maps/Direction.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Maps/Heading.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Maps/IHexCell.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Maps/MapManager.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Maps/ISquareMap.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Maps/IHexMap.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMap.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMapFactory.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Maps/ICell.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Maps/SquareCell.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Maps/HexCell.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Maps/ISquareCell.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/VehicleConfiguration.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/JsonDeserializor.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/IJsonDeserializor.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/CoreModule.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/IVehicle.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/VehicleConfiguration.json" />
-      </list>
-    </option>
+    <changedPaths>
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/Heading.cs" />
+    </changedPaths>
   </component>
   <component name="ProjectId" id="1lIZ7IfsUjzqV2Jb1obOFvGFAfp" />
   <component name="ProjectLevelVcsManager" settingsEditedManually="true">
@@ -101,7 +70,7 @@
   </component>
   <component name="PropertiesComponent">
     <property name="DebuggerViewTab_PTCS_FirstProportionKey" value="0.3496007" />
-    <property name="DebuggerViewTab_PTCS_LastProportionKey" value="0.29991126" />
+    <property name="DebuggerViewTab_PTCS_LastProportionKey" value="0.0" />
     <property name="RunOnceActivity.OpenProjectViewOnStart" value="true" />
     <property name="WebServerToolWindowFactoryState" value="false" />
     <property name="nodejs_package_manager_path" value="npm" />
@@ -157,7 +126,10 @@
       <workItem from="1607286402206" duration="6845000" />
       <workItem from="1607640133651" duration="318000" />
       <workItem from="1607640470920" duration="58000" />
-      <workItem from="1607640550443" duration="11201000" />
+      <workItem from="1607640550443" duration="19992000" />
+      <workItem from="1607982179018" duration="634000" />
+      <workItem from="1607983288378" duration="86000" />
+      <workItem from="1607983862958" duration="1794000" />
     </task>
     <servers />
   </component>
@@ -181,125 +153,4 @@
   <component name="VcsManagerConfiguration">
     <option name="CLEAR_INITIAL_COMMIT_MESSAGE" value="true" />
   </component>
-  <component name="WindowStateProjectService">
-    <state width="1158" height="563" key="GridCell.Tab.0.bottom" timestamp="1607658943689">
-      <screen x="1440" y="-757" width="1200" height="1895" />
-    </state>
-    <state width="1158" height="581" key="GridCell.Tab.0.bottom/0.0.1440.900/2640.-782.1200.1920/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607641515103" />
-    <state width="1158" height="563" key="GridCell.Tab.0.bottom/0.25.1440.798/2640.-757.1200.1895/1440.-757.1200.1895@1440.-757.1200.1895" timestamp="1607657415855" />
-    <state width="1158" height="581" key="GridCell.Tab.0.bottom/0.25.1440.798/2640.-757.1200.1895/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607641379864" />
-    <state width="1158" height="563" key="GridCell.Tab.0.bottom/0.25.1440.875/2640.-757.1200.1895/1440.-757.1200.1895@1440.-757.1200.1895" timestamp="1607658943689" />
-    <state width="1158" height="563" key="GridCell.Tab.0.center" timestamp="1607658943688">
-      <screen x="1440" y="-757" width="1200" height="1895" />
-    </state>
-    <state width="1158" height="581" key="GridCell.Tab.0.center/0.0.1440.900/2640.-782.1200.1920/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607641515101" />
-    <state width="1158" height="563" key="GridCell.Tab.0.center/0.25.1440.798/2640.-757.1200.1895/1440.-757.1200.1895@1440.-757.1200.1895" timestamp="1607657415853" />
-    <state width="1158" height="581" key="GridCell.Tab.0.center/0.25.1440.798/2640.-757.1200.1895/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607641379862" />
-    <state width="1158" height="563" key="GridCell.Tab.0.center/0.25.1440.875/2640.-757.1200.1895/1440.-757.1200.1895@1440.-757.1200.1895" timestamp="1607658943688" />
-    <state width="1158" height="563" key="GridCell.Tab.0.left" timestamp="1607658943687">
-      <screen x="1440" y="-757" width="1200" height="1895" />
-    </state>
-    <state width="1158" height="581" key="GridCell.Tab.0.left/0.0.1440.900/2640.-782.1200.1920/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607641515100" />
-    <state width="1158" height="563" key="GridCell.Tab.0.left/0.25.1440.798/2640.-757.1200.1895/1440.-757.1200.1895@1440.-757.1200.1895" timestamp="1607657415853" />
-    <state width="1158" height="581" key="GridCell.Tab.0.left/0.25.1440.798/2640.-757.1200.1895/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607641379861" />
-    <state width="1158" height="563" key="GridCell.Tab.0.left/0.25.1440.875/2640.-757.1200.1895/1440.-757.1200.1895@1440.-757.1200.1895" timestamp="1607658943687" />
-    <state width="1158" height="563" key="GridCell.Tab.0.right" timestamp="1607658943688">
-      <screen x="1440" y="-757" width="1200" height="1895" />
-    </state>
-    <state width="1158" height="581" key="GridCell.Tab.0.right/0.0.1440.900/2640.-782.1200.1920/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607641515102" />
-    <state width="1158" height="563" key="GridCell.Tab.0.right/0.25.1440.798/2640.-757.1200.1895/1440.-757.1200.1895@1440.-757.1200.1895" timestamp="1607657415854" />
-    <state width="1158" height="581" key="GridCell.Tab.0.right/0.25.1440.798/2640.-757.1200.1895/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607641379863" />
-    <state width="1158" height="563" key="GridCell.Tab.0.right/0.25.1440.875/2640.-757.1200.1895/1440.-757.1200.1895@1440.-757.1200.1895" timestamp="1607658943688" />
-    <state width="1158" height="716" key="GridCell.Tab.1.bottom" timestamp="1607657084436">
-      <screen x="1440" y="-757" width="1200" height="1895" />
-    </state>
-    <state width="1158" height="738" key="GridCell.Tab.1.bottom/0.0.1440.900/2640.-782.1200.1920/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607640745266" />
-    <state width="1158" height="716" key="GridCell.Tab.1.bottom/0.25.1440.798/2640.-757.1200.1895/1440.-757.1200.1895@1440.-757.1200.1895" timestamp="1607657084436" />
-    <state width="1158" height="738" key="GridCell.Tab.1.bottom/0.25.1440.798/2640.-757.1200.1895/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607640704043" />
-    <state width="1158" height="716" key="GridCell.Tab.1.center" timestamp="1607657084434">
-      <screen x="1440" y="-757" width="1200" height="1895" />
-    </state>
-    <state width="1158" height="738" key="GridCell.Tab.1.center/0.0.1440.900/2640.-782.1200.1920/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607640745263" />
-    <state width="1158" height="716" key="GridCell.Tab.1.center/0.25.1440.798/2640.-757.1200.1895/1440.-757.1200.1895@1440.-757.1200.1895" timestamp="1607657084434" />
-    <state width="1158" height="738" key="GridCell.Tab.1.center/0.25.1440.798/2640.-757.1200.1895/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607640704040" />
-    <state width="1158" height="716" key="GridCell.Tab.1.left" timestamp="1607657084433">
-      <screen x="1440" y="-757" width="1200" height="1895" />
-    </state>
-    <state width="1158" height="738" key="GridCell.Tab.1.left/0.0.1440.900/2640.-782.1200.1920/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607640745262" />
-    <state width="1158" height="716" key="GridCell.Tab.1.left/0.25.1440.798/2640.-757.1200.1895/1440.-757.1200.1895@1440.-757.1200.1895" timestamp="1607657084433" />
-    <state width="1158" height="738" key="GridCell.Tab.1.left/0.25.1440.798/2640.-757.1200.1895/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607640704038" />
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-      <screen x="1440" y="-757" width="1200" height="1895" />
-    </state>
-    <state width="1158" height="738" key="GridCell.Tab.2.center/0.0.1440.900/2640.-782.1200.1920/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607640745275" />
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-      <screen x="1440" y="-757" width="1200" height="1895" />
-    </state>
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-    </state>
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-      <screen x="1440" y="-782" width="1200" height="1920" />
-    </state>
-    <state x="1860" y="-144" key="RiderGenerateDialog/0.0.1440.900/2640.-782.1200.1920/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607636510472" />
-    <state x="1549" y="-186" key="SettingsEditor" timestamp="1607640461977">
-      <screen x="1440" y="-782" width="1200" height="1920" />
-    </state>
-    <state x="1549" y="-186" key="SettingsEditor/0.0.1440.900/2640.-782.1200.1920/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607640461977" />
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-    <state x="1703" y="-333" width="672" height="678" key="search.everywhere.popup" timestamp="1607633696072">
-      <screen x="1440" y="-782" width="1200" height="1920" />
-    </state>
-    <state x="1703" y="-333" width="672" height="678" key="search.everywhere.popup/0.0.1440.900/2640.-782.1200.1920/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607633696072" />
-  </component>
 </project>
\ No newline at end of file
diff --git a/ConsoleApp/ConsoleApp.csproj b/ConsoleApp/ConsoleApp.csproj
index 46562ba..cb79c52 100644
--- a/ConsoleApp/ConsoleApp.csproj
+++ b/ConsoleApp/ConsoleApp.csproj
@@ -5,6 +5,14 @@
         <TargetFramework>netcoreapp3.1</TargetFramework>
     </PropertyGroup>
 
+    <PropertyGroup Condition=" '$(Configuration)' == 'Debug' ">
+      <DebugType>full</DebugType>
+    </PropertyGroup>
+
+    <PropertyGroup Condition=" '$(Configuration)' == 'Release' ">
+      <DebugType>full</DebugType>
+    </PropertyGroup>
+
     <ItemGroup>
       <PackageReference Include="DryIoc.dll" Version="4.5.2" />
     </ItemGroup>
diff --git a/ConsoleApp/IVehicle.cs b/ConsoleApp/IVehicle.cs
index 0e26262..2f55f3c 100644
--- a/ConsoleApp/IVehicle.cs
+++ b/ConsoleApp/IVehicle.cs
@@ -1,9 +1,16 @@
+using ConsoleApp.Maps;
+
 namespace ConsoleApp
 {
     public interface IVehicle
     {
         int Length { get; }
         int Width { get; }
-        int DetectorWidth { get; }
+        int DetectorOffset { get;}
+        int DetectorWidth { get;}
+        ICell CurrentHexCell { get; set; }
+        Heading HexHeading { get; set; }
+        Heading SquareHeading { get; set; }
+        ICell CurrentSquareCell { get; set; }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/Cell.cs b/ConsoleApp/Maps/Cell.cs
new file mode 100644
index 0000000..1665631
--- /dev/null
+++ b/ConsoleApp/Maps/Cell.cs
@@ -0,0 +1,23 @@
+using System;
+
+namespace ConsoleApp.Maps
+{
+    public struct Cell : ICell
+    {
+        public int X { get; }
+        public int Y { get; }
+        public int Z { get; }
+
+        public Cell(int x, int y, int z = default)
+        {
+            if (z != default)
+            {
+                if (x + y + z != 0) throw new ArgumentException("x + y + z must be 0");
+            }
+
+            X = x;
+            Y = y;
+            Z = z;
+        }
+    }
+}
\ No newline at end of file
diff --git a/ConsoleApp/Maps/Heading.cs b/ConsoleApp/Maps/Heading.cs
index c46b5c5..df70d1c 100644
--- a/ConsoleApp/Maps/Heading.cs
+++ b/ConsoleApp/Maps/Heading.cs
@@ -1,35 +1,49 @@
+using System.Net.NetworkInformation;
+
 namespace ConsoleApp.Maps
 {
+    public class Oreientation
+    {
+        public static (int, int) Forward = (0, 1);
+        public static (int, int) Backward = (0, -1);
+        public static (int, int) Left = (-1, 0);
+        public static (int, int) Right = (1, 0);
+        public static (int, int) LeftBack = (-1, -1);
+        public static (int, int) LeftForward = (-1, 1);
+        public static (int, int) RightBack = (1, -1);
+        public static (int, int) RightForward = (1, 1);
+    }
     public class Heading
     {
         private (int, int) _currentHeading;
         public (int, int) CurrentHeading { get; }
+
         
         public void SetHeading((int,int)frontAxel, (int,int)backAxel)
         {
             var x = frontAxel.Item1 - backAxel.Item1;
             var y = frontAxel.Item2 - backAxel.Item2;
             //forward
-            if (x == 0 && y >= 1) _currentHeading = (0, 1);
+            if (x == 0 && y >= 1) _currentHeading = Oreientation.Forward;
             //backward
-            if (x == 0 && y <= -1) _currentHeading = (0, -1);
+            if (x == 0 && y <= -1) _currentHeading = Oreientation.Backward;
             //right
-            if (x >= 1 && y == 0) _currentHeading = (1, 0);
+            if (x >= 1 && y == 0) _currentHeading = Oreientation.Right;
             //left
-            if (x <= -1 && y == 0) _currentHeading = (-1, 0);
+            if (x <= -1 && y == 0) _currentHeading = Oreientation.Left;
             //left, back
-            if (x <= -1 && y <= -1) _currentHeading = (-1, -1);
+            if (x <= -1 && y <= -1) _currentHeading = Oreientation.LeftBack;
             //right, forward
-            if (x >= 1 && y >= 1) _currentHeading = (1, 1);
+            if (x >= 1 && y >= 1) _currentHeading = Oreientation.RightForward;
             //left, forward
-            if (x <= -1 && y >= 1) _currentHeading = (-1, 1);
+            if (x <= -1 && y >= 1) _currentHeading = Oreientation.LeftForward;
             //right, back
-            if (x >= 1 && y <= -1) _currentHeading = (1, -1);
+            if (x >= 1 && y <= -1) _currentHeading = Oreientation.RightBack;
 
         }
         public Heading()
         {
-            _currentHeading = (1,0);
+            _currentHeading = Oreientation.Forward;
             CurrentHeading = _currentHeading;
         }
 
diff --git a/ConsoleApp/Maps/HexCell.cs b/ConsoleApp/Maps/HexCell.cs
deleted file mode 100644
index d396ff0..0000000
--- a/ConsoleApp/Maps/HexCell.cs
+++ /dev/null
@@ -1,20 +0,0 @@
-using System;
-using System.Collections.Generic;
-
-namespace ConsoleApp.Maps
-{
-    public struct HexCell : IHexCell
-    {
-        public int X { get; }
-        public int Y { get; }
-        public int Z { get; }
-        public HexCell(int q, int r, int s)
-        {
-            if (q + r + s != 0) throw new ArgumentException("q + r + s must be 0");
-            X = q;
-            Y = r;
-            Z = s;
-        }
-  
-    }
-}
\ No newline at end of file
diff --git a/ConsoleApp/Maps/HexMap.cs b/ConsoleApp/Maps/HexMap.cs
index 241f32c..a98f900 100644
--- a/ConsoleApp/Maps/HexMap.cs
+++ b/ConsoleApp/Maps/HexMap.cs
@@ -5,16 +5,32 @@ namespace ConsoleApp.Maps
 {
     public class HexMap : IHexMap
     {
-        private HexCell[,] Map { get; }
+        public Cell[,] Map { get; }
+        public ICell StartingCell { get; }
+        public ICell LastCell { get; }
 
+        /// <summary>
+        /// Generate Hex map with cells of 25cm X 25cm
+        /// </summary>
+        /// <param name="x"></param>
+        /// <param name="y"></param>
         public HexMap(int x, int y)
         {
-            Map = new HexCell[x+1,y+1];
-            for (int r = 0; r < y; r++) {
+            //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 last cell;
+            StartingCell = Map[0, 0];
+            Map = new Cell[xCellCount, yCellCount];
+            for (int r = 0; r < yCellCount; r++) {
                 int r_offset = Convert.ToInt32(Math.Floor(Convert.ToDouble(r)/2));
-                for (int q = r_offset; q < x - r_offset; q++) {
+                for (int q = r_offset; q < xCellCount - r_offset; q++) {
                     // Console.WriteLine($"r:{r}, q:{q}-----x:{x}, y:{y}");
-                    Map[r, q] = new HexCell(q, r, -q-r);
+                    Map[r, q] = new Cell(q, r, -q-r);
                 }
             }
         }
diff --git a/ConsoleApp/Maps/IHexCell.cs b/ConsoleApp/Maps/IHexCell.cs
deleted file mode 100644
index 29fd15e..0000000
--- a/ConsoleApp/Maps/IHexCell.cs
+++ /dev/null
@@ -1,7 +0,0 @@
-namespace ConsoleApp.Maps
-{
-    public interface IHexCell : ICell
-    {
-        
-    }
-}
\ No newline at end of file
diff --git a/ConsoleApp/Maps/IMap.cs b/ConsoleApp/Maps/IMap.cs
index e2010ed..d622bd4 100644
--- a/ConsoleApp/Maps/IMap.cs
+++ b/ConsoleApp/Maps/IMap.cs
@@ -1,9 +1,13 @@
 using System.Collections.Generic;
+using System.ComponentModel;
 
 namespace ConsoleApp.Maps
 {
     public interface IMap
     {
+        public Cell[,] Map { get; }
+        ICell StartingCell { get; }
+        ICell LastCell { get; }
         public List<ICell> PossibleMoves(ICell currentCell);
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/IMapFactory.cs b/ConsoleApp/Maps/IMapFactory.cs
index 079298d..a4b8eae 100644
--- a/ConsoleApp/Maps/IMapFactory.cs
+++ b/ConsoleApp/Maps/IMapFactory.cs
@@ -7,6 +7,7 @@ namespace ConsoleApp.Maps
     {
         int Height { get; }
         int Width { get; }
+        int CellWidth { get; }
         Dictionary<string, IMap> Maps { get; }
         void GenerateMaps(int x, int y);
     }
diff --git a/ConsoleApp/Maps/ISquareCell.cs b/ConsoleApp/Maps/ISquareCell.cs
deleted file mode 100644
index ae83d9e..0000000
--- a/ConsoleApp/Maps/ISquareCell.cs
+++ /dev/null
@@ -1,8 +0,0 @@
-namespace ConsoleApp.Maps
-{
-    public interface ISquareCell : ICell
-    {
-        new int X { get; }
-        new int Y { get; }
-    }
-}
\ No newline at end of file
diff --git a/ConsoleApp/Maps/MapFactory.cs b/ConsoleApp/Maps/MapFactory.cs
index 0d55898..7e165b8 100644
--- a/ConsoleApp/Maps/MapFactory.cs
+++ b/ConsoleApp/Maps/MapFactory.cs
@@ -8,6 +8,7 @@ namespace ConsoleApp.Maps
         private int _defaultWidth;
         public int Height { get; protected set; }
         public int Width { get; protected set; }
+        public int CellWidth { get; protected set; }
 
         public Dictionary<string, IMap> Maps { get; }
 
@@ -20,8 +21,9 @@ namespace ConsoleApp.Maps
             Maps.Add("HexMap", new HexMap(x, y));
         }
 
-        public MapFactory()
+        public MapFactory(IVehicle vehicle)
         {
+            CellWidth = vehicle.Width/2;
             _defaultHeight = 0;
             _defaultWidth = 0;
             Height = _defaultHeight;
diff --git a/ConsoleApp/Maps/SquareCell.cs b/ConsoleApp/Maps/SquareCell.cs
deleted file mode 100644
index ae6fc38..0000000
--- a/ConsoleApp/Maps/SquareCell.cs
+++ /dev/null
@@ -1,16 +0,0 @@
-namespace ConsoleApp.Maps
-{
-    public struct SquareCell : ISquareCell
-    {
-        public int X { get; }
-        public int Y { get; }
-        public int Z { get; }
-
-        public SquareCell(int x, int y)
-        {
-            X = x;
-            Y = y;
-            Z = default;
-        }
-    }
-}
\ No newline at end of file
diff --git a/ConsoleApp/Maps/SquareMap.cs b/ConsoleApp/Maps/SquareMap.cs
index 635a3ff..b408aba 100644
--- a/ConsoleApp/Maps/SquareMap.cs
+++ b/ConsoleApp/Maps/SquareMap.cs
@@ -5,16 +5,27 @@ namespace ConsoleApp.Maps
 {
     public class SquareMap : ISquareMap
     {
-        public SquareCell[,] Map { get;}
+        public Cell[,] Map { get;}
+        public ICell StartingCell { get; }
+        public ICell LastCell { get; }
 
         public SquareMap(int x, int y)
         {
-            Map = new SquareCell[x,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 last cell;
+            StartingCell = Map[0, 0];
+            Map = new Cell[xCellCount, yCellCount];
             for (int i = 0; i < x; i++)
             {
                 for (int j = 0; j < y; j++)
                 {
-                    Map[i,j] = new SquareCell(i, j);
+                    Map[i,j] = new Cell(i, j);
                 }
             }
         }
diff --git a/ConsoleApp/SimRunner.cs b/ConsoleApp/SimRunner.cs
index 04a2849..5dbb361 100644
--- a/ConsoleApp/SimRunner.cs
+++ b/ConsoleApp/SimRunner.cs
@@ -1,3 +1,7 @@
+using System;
+using System.Collections.Generic;
+using System.Threading;
+using System.Threading.Tasks;
 using ConsoleApp.Maps;
 
 namespace ConsoleApp
@@ -5,15 +9,59 @@ namespace ConsoleApp
     public class SimRunner : ISimRunner
     {
         private IMapFactory _mapFactory;
+        private IVehicle _vehicle;
+        private IMap _squareMap;
+        private IMap _hexMap;
+        private int _cellWidth;
+
 
         public SimRunner(IMapFactory mapFactory, IVehicle vehicle)
         {
+            _squareMap = mapFactory.Maps["SquareMap"];
+            _hexMap = mapFactory.Maps["HexMap"];
+            _cellWidth = mapFactory.CellWidth;
             _mapFactory = mapFactory;
+            _vehicle = vehicle;
         }
 
         public void Run()
+        {
+            _vehicle.CurrentHexCell = _hexMap.StartingCell;
+            _vehicle.CurrentSquareCell = _squareMap.StartingCell;
+            var squareTask = Task.Run(() => SquareSimulation());
+            var hexTask = Task.Run(() => HexSimulation());
+            while(!squareTask.IsCompleted && !hexTask.IsCompleted){Thread.Sleep(500);}
+           
+        }
+
+        private void HexSimulation()
         {
             
+            var optimalPath = GenerateHexPath();
+        }
+        
+
+        private void SquareSimulation()
+        {
+            var optimalPath = GenerateSquarePath();
+        }
+
+        private object GenerateSquarePath()
+        {
+            throw new NotImplementedException();
+        }
+
+        private Queue<ICell> GenerateHexPath()
+        {
+            var path = new Queue<ICell>();
+            var currentCell = _vehicle.CurrentHexCell;
+            var possibles = _hexMap.PossibleMoves(currentCell);
+            while (currentCell != _hexMap.LastCell)
+            {
+                
+            }
+
+            return path;
         }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Vehicle.cs b/ConsoleApp/Vehicle.cs
index b8c254a..d3e7f42 100644
--- a/ConsoleApp/Vehicle.cs
+++ b/ConsoleApp/Vehicle.cs
@@ -1,4 +1,5 @@
 using System;
+using ConsoleApp.Maps;
 
 namespace ConsoleApp
 {
@@ -9,6 +10,12 @@ namespace ConsoleApp
 
         public int DetectorOffset { get;}
         public int DetectorWidth { get;}
+        public ICell CurrentHexCell { get; set; }
+        public Heading HexHeading { get; set; }
+        public Heading SquareHeading { get; set; }
+        public ICell CurrentSquareCell { get; set; }
+        
+
         
         public Vehicle(IJsonDeserializor jsonDeserializor)
         {
@@ -17,8 +24,10 @@ namespace ConsoleApp
             Width = config.Width;
             DetectorWidth = config.DetectorWidth;
             DetectorOffset = config.DetectorOffset;
+            CurrentHexCell = default;
+            CurrentSquareCell = default;
+            HexHeading = default;
+            SquareHeading = default;
         }
-
-
     }
 }
\ No newline at end of file
diff --git a/RobotIntelFinal.sln.DotSettings.user b/RobotIntelFinal.sln.DotSettings.user
index fb23c2a..1123785 100644
--- a/RobotIntelFinal.sln.DotSettings.user
+++ b/RobotIntelFinal.sln.DotSettings.user
@@ -1,3 +1,4 @@
 <wpf:ResourceDictionary xml:space="preserve" xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml" xmlns:s="clr-namespace:System;assembly=mscorlib" xmlns:ss="urn:shemas-jetbrains-com:settings-storage-xaml" xmlns:wpf="http://schemas.microsoft.com/winfx/2006/xaml/presentation">
-	<s:Int64 x:Key="/Default/Environment/Hierarchy/Build/BuildTool/MsbuildVersion/@EntryValue">1048576</s:Int64>
+	<s:String x:Key="/Default/Environment/Hierarchy/Build/BuildTool/DotNetCliExePath/@EntryValue">/Users/brady.bodily/.dotnet/dotnet</s:String>
+	
 	<s:String x:Key="/Default/Environment/Hierarchy/Build/BuildTool/CustomBuildToolPath/@EntryValue">/Users/brady.bodily/.dotnet/sdk/3.1.402/MSBuild.dll</s:String></wpf:ResourceDictionary>
\ No newline at end of file

From 80ea6903305da57de5b361fb3eab410522687ffe Mon Sep 17 00:00:00 2001
From: Brady Bodily <bradybod@gmail.com>
Date: Mon, 14 Dec 2020 18:23:25 -0700
Subject: [PATCH 08/13] Optimal path generated for square cells

---
 ConsoleApp/IPathPlanner.cs         |  4 ++++
 ConsoleApp/Maps/Direction.cs       | 15 ---------------
 ConsoleApp/Maps/GlobalDirection.cs |  7 +++++++
 ConsoleApp/PathPlanner.cs          |  4 ++++
 4 files changed, 15 insertions(+), 15 deletions(-)
 create mode 100644 ConsoleApp/IPathPlanner.cs
 delete mode 100644 ConsoleApp/Maps/Direction.cs
 create mode 100644 ConsoleApp/Maps/GlobalDirection.cs
 create mode 100644 ConsoleApp/PathPlanner.cs

diff --git a/ConsoleApp/IPathPlanner.cs b/ConsoleApp/IPathPlanner.cs
new file mode 100644
index 0000000..4d79ed9
--- /dev/null
+++ b/ConsoleApp/IPathPlanner.cs
@@ -0,0 +1,4 @@
+$HEADER$namespace $NAMESPACE$
+{
+  public interface $INTERFACE$ {$END$}
+}
\ No newline at end of file
diff --git a/ConsoleApp/Maps/Direction.cs b/ConsoleApp/Maps/Direction.cs
deleted file mode 100644
index 833ddf8..0000000
--- a/ConsoleApp/Maps/Direction.cs
+++ /dev/null
@@ -1,15 +0,0 @@
-using System;
-
-namespace ConsoleApp.Maps
-{
-    public class Direction
-    {
-        public static Tuple<int, int> Forward => _forward;
-        public static Tuple<int, int> Reverse => _reverse;
-
-        
-        private static Tuple<int,int> _forward = new Tuple<int, int>(1, 0);
-        private static Tuple<int,int> _reverse = new Tuple<int, int>(-1, 0);
-
-    }
-}
\ No newline at end of file
diff --git a/ConsoleApp/Maps/GlobalDirection.cs b/ConsoleApp/Maps/GlobalDirection.cs
new file mode 100644
index 0000000..ca7b731
--- /dev/null
+++ b/ConsoleApp/Maps/GlobalDirection.cs
@@ -0,0 +1,7 @@
+namespace ConsoleApp.Maps
+{
+    public enum Direction
+    {
+        
+    }
+}
\ No newline at end of file
diff --git a/ConsoleApp/PathPlanner.cs b/ConsoleApp/PathPlanner.cs
new file mode 100644
index 0000000..9b781fd
--- /dev/null
+++ b/ConsoleApp/PathPlanner.cs
@@ -0,0 +1,4 @@
+$HEADER$namespace $NAMESPACE$
+{
+  public class $CLASS$ {$END$}
+}
\ No newline at end of file

From 5bb82f75793c58bc3491f373a1adecabdef3b645 Mon Sep 17 00:00:00 2001
From: Brady Bodily <bradybod@gmail.com>
Date: Mon, 14 Dec 2020 18:24:10 -0700
Subject: [PATCH 09/13] Optimal path for square map

---
 .../.idea/contentModel.xml                    |  7 +-
 .../.idea.RobotIntelFinal/.idea/workspace.xml | 95 +++++++++++++++----
 ConsoleApp/CoreModule.cs                      |  1 +
 ConsoleApp/IPathPlanner.cs                    | 11 ++-
 ConsoleApp/Maps/GlobalDirection.cs            |  7 +-
 ConsoleApp/Maps/Heading.cs                    |  2 -
 ConsoleApp/Maps/HexMap.cs                     | 10 +-
 ConsoleApp/Maps/IMap.cs                       |  6 +-
 ConsoleApp/Maps/SquareMap.cs                  | 47 ++++++---
 ConsoleApp/PathPlanner.cs                     | 56 ++++++++++-
 ConsoleApp/SimRunner.cs                       | 46 +++------
 11 files changed, 209 insertions(+), 79 deletions(-)

diff --git a/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml b/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
index 5a947e0..95e7f7b 100644
--- a/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
+++ b/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
@@ -9,13 +9,14 @@
         <e p="CoreModule.cs" t="Include" />
         <e p="IJsonDeserializor.cs" t="Include" />
         <e p="IModule.cs" t="Include" />
+        <e p="IPathPlanner.cs" t="Include" />
         <e p="ISimRunner.cs" t="Include" />
         <e p="IUserConsole.cs" t="Include" />
         <e p="IVehicle.cs" t="Include" />
         <e p="JsonDeserializor.cs" t="Include" />
         <e p="Maps" t="Include">
           <e p="Cell.cs" t="Include" />
-          <e p="Direction.cs" t="Include" />
+          <e p="GlobalDirection.cs" t="Include" />
           <e p="Heading.cs" t="Include" />
           <e p="HexMap.cs" t="Include" />
           <e p="ICell.cs" t="Include" />
@@ -27,12 +28,13 @@
           <e p="SquareMap.cs" t="Include" />
         </e>
         <e p="obj" t="ExcludeRecursive">
-          <e p="Release" t="Include">
+          <e p="Debug" t="Include">
             <e p="netcoreapp3.1" t="Include">
               <e p="ConsoleApp.AssemblyInfo.cs" t="Include" />
             </e>
           </e>
         </e>
+        <e p="PathPlanner.cs" t="Include" />
         <e p="Program.cs" t="Include" />
         <e p="SimRunner.cs" t="Include" />
         <e p="UserConsole.cs" t="Include" />
@@ -43,6 +45,7 @@
       <e p="packages" t="ExcludeRecursive" />
       <e p="RobotIntelFinal.sln" t="IncludeFlat" />
     </e>
+    <e p="$APPLICATION_CONFIG_DIR$/consoles/ide" t="IncludeRecursive" />
     <e p="$USER_HOME$/Library/Caches/JetBrains/Rider2020.3/extResources" t="IncludeRecursive" />
     <e p="$USER_HOME$/Library/Caches/JetBrains/Rider2020.3/resharper-host/local/Transient/Rider/v203/SolutionCaches/_RobotIntelFinal.-1349721189.00" t="ExcludeRecursive" />
   </component>
diff --git a/.idea/.idea.RobotIntelFinal/.idea/workspace.xml b/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
index 054c27e..2817021 100644
--- a/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
+++ b/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
@@ -18,24 +18,18 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="dafcaeb7-80aa-43a3-a480-786fafb78c0b" name="Default Changelist" comment="">
+      <change afterPath="$PROJECT_DIR$/ConsoleApp/IPathPlanner.cs" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/ConsoleApp/Maps/GlobalDirection.cs" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanner.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/modules.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/.idea.RobotIntelFinal/.idea/modules.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/IVehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/IVehicle.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/Direction.cs" beforeDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/Heading.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/Heading.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/HexCell.cs" beforeDir="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/IHexCell.cs" beforeDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/IMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/IMap.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/ISquareCell.cs" beforeDir="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/SquareCell.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/Cell.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/SimRunner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/RobotIntelFinal.sln.DotSettings.user" beforeDir="false" afterPath="$PROJECT_DIR$/RobotIntelFinal.sln.DotSettings.user" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -53,11 +47,29 @@
     <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
   </component>
   <component name="HighlightingSettingsPerFile">
+    <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="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" />
   </component>
   <component name="IdeDocumentHistory">
     <changedPaths>
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/Heading.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/Direction.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/GlobalDirection.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/IPathPlanner.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/CoreModule.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanner.cs" />
     </changedPaths>
   </component>
   <component name="ProjectId" id="1lIZ7IfsUjzqV2Jb1obOFvGFAfp" />
@@ -74,14 +86,15 @@
     <property name="RunOnceActivity.OpenProjectViewOnStart" value="true" />
     <property name="WebServerToolWindowFactoryState" value="false" />
     <property name="nodejs_package_manager_path" value="npm" />
-    <property name="settings.editor.selected.configurable" value="SolutionBuilderGeneralOptionsPageId" />
+    <property name="restartRequiresConfirmation" value="false" />
+    <property name="settings.editor.selected.configurable" value="project.propDebugger" />
     <property name="vue.rearranger.settings.migration" value="true" />
   </component>
   <component name="RunManager" selected=".NET Project.ConsoleApp">
     <configuration name="ConsoleApp" type="DotNetProject" factoryName=".NET Project">
-      <option name="EXE_PATH" value="" />
+      <option name="EXE_PATH" value="$PROJECT_DIR$/ConsoleApp/bin/Debug/netcoreapp3.1/ConsoleApp.dll" />
       <option name="PROGRAM_PARAMETERS" value="" />
-      <option name="WORKING_DIRECTORY" value="" />
+      <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$/ConsoleApp/bin/Debug/netcoreapp3.1" />
       <option name="PASS_PARENT_ENVS" value="1" />
       <option name="USE_EXTERNAL_CONSOLE" value="0" />
       <option name="USE_MONO" value="0" />
@@ -91,7 +104,7 @@
       <option name="PROJECT_ARGUMENTS_TRACKING" value="1" />
       <option name="PROJECT_WORKING_DIRECTORY_TRACKING" value="1" />
       <option name="PROJECT_KIND" value="DotNetCore" />
-      <option name="PROJECT_TFM" value="" />
+      <option name="PROJECT_TFM" value=".NETCoreApp,Version=v3.1" />
       <method v="2">
         <option name="Build" />
       </method>
@@ -114,6 +127,10 @@
         <option name="Build" />
       </method>
     </configuration>
+    <list>
+      <item itemvalue=".NET Project.ConsoleApp" />
+      <item itemvalue=".NET Project.Simulator" />
+    </list>
   </component>
   <component name="SpellCheckerSettings" RuntimeDictionaries="0" Folders="0" CustomDictionaries="0" DefaultDictionary="application-level" UseSingleDictionary="true" transferred="true" />
   <component name="TaskManager">
@@ -129,7 +146,8 @@
       <workItem from="1607640550443" duration="19992000" />
       <workItem from="1607982179018" duration="634000" />
       <workItem from="1607983288378" duration="86000" />
-      <workItem from="1607983862958" duration="1794000" />
+      <workItem from="1607983862958" duration="7777000" />
+      <workItem from="1607993290571" duration="1876000" />
     </task>
     <servers />
   </component>
@@ -153,4 +171,49 @@
   <component name="VcsManagerConfiguration">
     <option name="CLEAR_INITIAL_COMMIT_MESSAGE" value="true" />
   </component>
+  <component name="XDebuggerManager">
+    <breakpoint-manager>
+      <breakpoints>
+        <line-breakpoint enabled="true" type="DotNet Breakpoints">
+          <url>file://$PROJECT_DIR$/ConsoleApp/SimRunner.cs</url>
+          <line>49</line>
+          <properties documentPath="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" initialLine="49" containingFunctionPresentation="method 'SquareSimulation'">
+            <startOffsets>
+              <option value="1400" />
+            </startOffsets>
+            <endOffsets>
+              <option value="1427" />
+            </endOffsets>
+          </properties>
+          <option name="timeStamp" value="5" />
+        </line-breakpoint>
+        <line-breakpoint enabled="true" type="DotNet Breakpoints">
+          <url>file://$PROJECT_DIR$/ConsoleApp/SimRunner.cs</url>
+          <line>47</line>
+          <properties documentPath="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" initialLine="47" containingFunctionPresentation="method 'SquareSimulation'">
+            <startOffsets>
+              <option value="1340" />
+            </startOffsets>
+            <endOffsets>
+              <option value="1369" />
+            </endOffsets>
+          </properties>
+          <option name="timeStamp" value="19" />
+        </line-breakpoint>
+        <line-breakpoint enabled="true" type="DotNet Breakpoints">
+          <url>file://$PROJECT_DIR$/ConsoleApp/PathPlanner.cs</url>
+          <line>34</line>
+          <properties documentPath="$PROJECT_DIR$/ConsoleApp/PathPlanner.cs" initialLine="34" containingFunctionPresentation="method 'GenerateOptimalSquarePath'">
+            <startOffsets>
+              <option value="1420" />
+            </startOffsets>
+            <endOffsets>
+              <option value="1436" />
+            </endOffsets>
+          </properties>
+          <option name="timeStamp" value="24" />
+        </line-breakpoint>
+      </breakpoints>
+    </breakpoint-manager>
+  </component>
 </project>
\ No newline at end of file
diff --git a/ConsoleApp/CoreModule.cs b/ConsoleApp/CoreModule.cs
index de3521f..0b9500a 100644
--- a/ConsoleApp/CoreModule.cs
+++ b/ConsoleApp/CoreModule.cs
@@ -13,6 +13,7 @@ namespace ConsoleApp
             container.Register<ISimRunner, SimRunner>(Reuse.Singleton);
             container.Register<IVehicle, Vehicle>(Reuse.Singleton);
             container.Register<IJsonDeserializor, JsonDeserializor>(Reuse.Singleton);
+            container.Register<IPathPlanner, PathPlanner>(Reuse.Singleton);
         }
         
 
diff --git a/ConsoleApp/IPathPlanner.cs b/ConsoleApp/IPathPlanner.cs
index 4d79ed9..c71d52d 100644
--- a/ConsoleApp/IPathPlanner.cs
+++ b/ConsoleApp/IPathPlanner.cs
@@ -1,4 +1,11 @@
-$HEADER$namespace $NAMESPACE$
+using System.Collections.Generic;
+using ConsoleApp.Maps;
+
+namespace ConsoleApp
 {
-  public interface $INTERFACE$ {$END$}
+    public interface IPathPlanner
+    {
+        Queue<ICell> GenerateOptimalSquarePath(SquareMap map, IVehicle vehicle);
+    }
+    
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/GlobalDirection.cs b/ConsoleApp/Maps/GlobalDirection.cs
index ca7b731..8bff109 100644
--- a/ConsoleApp/Maps/GlobalDirection.cs
+++ b/ConsoleApp/Maps/GlobalDirection.cs
@@ -1,7 +1,10 @@
 namespace ConsoleApp.Maps
 {
-    public enum Direction
+    public enum GlobalDirection
     {
-        
+        North,
+        South,
+        East,
+        West
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/Heading.cs b/ConsoleApp/Maps/Heading.cs
index df70d1c..0a58e2b 100644
--- a/ConsoleApp/Maps/Heading.cs
+++ b/ConsoleApp/Maps/Heading.cs
@@ -1,5 +1,3 @@
-using System.Net.NetworkInformation;
-
 namespace ConsoleApp.Maps
 {
     public class Oreientation
diff --git a/ConsoleApp/Maps/HexMap.cs b/ConsoleApp/Maps/HexMap.cs
index a98f900..3ecba18 100644
--- a/ConsoleApp/Maps/HexMap.cs
+++ b/ConsoleApp/Maps/HexMap.cs
@@ -6,8 +6,8 @@ namespace ConsoleApp.Maps
     public class HexMap : IHexMap
     {
         public Cell[,] Map { get; }
-        public ICell StartingCell { get; }
-        public ICell LastCell { get; }
+        public Cell StartingCell { get; }
+        public Cell LastCell { get; }
 
         /// <summary>
         /// Generate Hex map with cells of 25cm X 25cm
@@ -23,9 +23,11 @@ namespace ConsoleApp.Maps
             var xCellCount = (int)Math.Ceiling((decimal) (x) / 25);
             var yCellCount = (int)Math.Ceiling((decimal) (y) / 25);
             
+            //Initialize Map
+            Map = new Cell[xCellCount, yCellCount];
+
             //set last cell;
             StartingCell = Map[0, 0];
-            Map = new Cell[xCellCount, yCellCount];
             for (int r = 0; r < yCellCount; r++) {
                 int r_offset = Convert.ToInt32(Math.Floor(Convert.ToDouble(r)/2));
                 for (int q = r_offset; q < xCellCount - r_offset; q++) {
@@ -35,7 +37,7 @@ namespace ConsoleApp.Maps
             }
         }
 
-        public List<ICell> PossibleMoves(ICell currentCell)
+        public List<GlobalDirection> PossibleMoves(ICell currentCell)
         {
             throw new NotImplementedException();
         }
diff --git a/ConsoleApp/Maps/IMap.cs b/ConsoleApp/Maps/IMap.cs
index d622bd4..a00f3fb 100644
--- a/ConsoleApp/Maps/IMap.cs
+++ b/ConsoleApp/Maps/IMap.cs
@@ -6,8 +6,8 @@ namespace ConsoleApp.Maps
     public interface IMap
     {
         public Cell[,] Map { get; }
-        ICell StartingCell { get; }
-        ICell LastCell { get; }
-        public List<ICell> PossibleMoves(ICell currentCell);
+        Cell StartingCell { get; }
+        Cell LastCell { get; }
+        public List<GlobalDirection> PossibleMoves(ICell currentCell);
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/SquareMap.cs b/ConsoleApp/Maps/SquareMap.cs
index b408aba..4a6f158 100644
--- a/ConsoleApp/Maps/SquareMap.cs
+++ b/ConsoleApp/Maps/SquareMap.cs
@@ -6,9 +6,14 @@ namespace ConsoleApp.Maps
     public class SquareMap : ISquareMap
     {
         public Cell[,] Map { get;}
-        public ICell StartingCell { get; }
-        public ICell LastCell { get; }
+        public Cell StartingCell { get; }
+        public Cell LastCell { get; }
+        public int Height { get; }
+        public int Width { get; }
 
+
+        private int _mapWidth;
+        private int _mapHeight;
         public SquareMap(int x, int y)
         {
             //convert to cm
@@ -18,31 +23,43 @@ namespace ConsoleApp.Maps
             var xCellCount = (int)Math.Ceiling((decimal) (x) / 25);
             var yCellCount = (int)Math.Ceiling((decimal) (y) / 25);
             
+            //set Width and height fields
+            _mapWidth = xCellCount-1;
+            _mapHeight = yCellCount-1;
+            Height = _mapHeight;
+            Width = _mapWidth;
+            
+            //Initialize Map
+            Map = new Cell[xCellCount, yCellCount];
+
             //set last cell;
             StartingCell = Map[0, 0];
-            Map = new Cell[xCellCount, yCellCount];
-            for (int i = 0; i < x; i++)
+            for (int i = 0; i < xCellCount; i++)
             {
-                for (int j = 0; j < y; j++)
+                for (int j = 0; j < yCellCount; j++)
                 {
                     Map[i,j] = new Cell(i, j);
                 }
             }
         }
 
-        public List<ICell> PossibleMoves(ICell currentCell)
+
+        public List<GlobalDirection> PossibleMoves(ICell currentCell)
         {
-            var forward = (currentCell.X , currentCell.Y + 1);
-            var backwards= (currentCell.X , currentCell.Y - 1);
-            var right = (currentCell.X + 1, currentCell.Y);
-            var left = (currentCell.X - 1, currentCell.Y);
-            var possibles = new List<ICell>();
-            possibles.Add(Map[forward.Item1, forward.Item2]);
-            possibles.Add(Map[backwards.Item1, backwards.Item2]);
-            possibles.Add(Map[right.Item1, right.Item2]);
-            possibles.Add(Map[left.Item1, left.Item2]);
             
+            var possibles = new List<GlobalDirection>();
+            if (currentCell.X != 0)
+                possibles.Add(GlobalDirection.West);
+            if (currentCell.X != _mapWidth)
+                possibles.Add(GlobalDirection.East);
+            if (currentCell.Y != _mapHeight)
+                possibles.Add(GlobalDirection.North);
+            if (currentCell.Y != 0)
+                possibles.Add(GlobalDirection.South);
+
             return possibles;
         }
+
+        public Cell this[in int x, in int y] => Map[x, y];
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/PathPlanner.cs b/ConsoleApp/PathPlanner.cs
index 9b781fd..2a75207 100644
--- a/ConsoleApp/PathPlanner.cs
+++ b/ConsoleApp/PathPlanner.cs
@@ -1,4 +1,56 @@
-$HEADER$namespace $NAMESPACE$
+using System;
+using System.Collections.Generic;
+using ConsoleApp.Maps;
+
+namespace ConsoleApp
 {
-  public class $CLASS$ {$END$}
+    public class PathPlanner : IPathPlanner
+    {
+        public Queue<ICell> GenerateOptimalSquarePath(SquareMap map, IVehicle vehicle)
+        {
+            var path = new Queue<ICell>();
+            var myCell = map.StartingCell;
+            var finished = false;
+            var width_cm = (double)(vehicle.DetectorWidth) * 100;
+            var swathOffset = (int)Math.Floor((decimal) (width_cm) / 25) + 1;
+            var currentHeading = GlobalDirection.North;
+            while (!finished)
+            {
+                var availableMoves = map.PossibleMoves(myCell);
+                if (availableMoves.Contains(GlobalDirection.North) && currentHeading == GlobalDirection.North &&
+                    myCell.Y != map.Height)
+                {
+                    path.Enqueue(map[myCell.X, myCell.Y + 1]);
+                    myCell = map[myCell.X, myCell.Y + 1];
+                }
+                else if (availableMoves.Contains(GlobalDirection.South) && currentHeading == GlobalDirection.South && myCell.Y != 0)
+                {
+                    path.Enqueue(map[myCell.X, myCell.Y - 1]);
+                    myCell = map[myCell.X, myCell.Y - 1];
+                }
+                else
+                {
+                    if (myCell.X + swathOffset >= map.Width)
+                    {
+                        finished = true;
+                    }
+                    else
+                    {
+                        for (int i = myCell.X; i < myCell.X + swathOffset; i++)
+                        {
+                            path.Enqueue(map[i, myCell.Y]);
+                        }
+                        myCell = map[myCell.X+swathOffset, myCell.Y];
+                        if (currentHeading == GlobalDirection.North)
+                            currentHeading = GlobalDirection.South;
+                        else if (currentHeading == GlobalDirection.South)
+                            currentHeading = GlobalDirection.North;
+                    }
+                }
+
+            }
+
+            return path;
+        }
+    }
 }
\ No newline at end of file
diff --git a/ConsoleApp/SimRunner.cs b/ConsoleApp/SimRunner.cs
index 5dbb361..5c55a52 100644
--- a/ConsoleApp/SimRunner.cs
+++ b/ConsoleApp/SimRunner.cs
@@ -10,58 +10,42 @@ namespace ConsoleApp
     {
         private IMapFactory _mapFactory;
         private IVehicle _vehicle;
-        private IMap _squareMap;
-        private IMap _hexMap;
+
         private int _cellWidth;
+        private IPathPlanner _pathPlanner;
 
 
-        public SimRunner(IMapFactory mapFactory, IVehicle vehicle)
+        public SimRunner(IMapFactory mapFactory, IVehicle vehicle, IPathPlanner pathPlanner)
         {
-            _squareMap = mapFactory.Maps["SquareMap"];
-            _hexMap = mapFactory.Maps["HexMap"];
+           
             _cellWidth = mapFactory.CellWidth;
             _mapFactory = mapFactory;
             _vehicle = vehicle;
+            _pathPlanner = pathPlanner;
         }
 
         public void Run()
         {
-            _vehicle.CurrentHexCell = _hexMap.StartingCell;
-            _vehicle.CurrentSquareCell = _squareMap.StartingCell;
-            var squareTask = Task.Run(() => SquareSimulation());
-            var hexTask = Task.Run(() => HexSimulation());
-            while(!squareTask.IsCompleted && !hexTask.IsCompleted){Thread.Sleep(500);}
-           
+
+            SquareSimulation();
+            // var hexTask = Task.Run(() => HexSimulation());
+            // while(!squareTask.IsCompleted && !hexTask.IsCompleted){Thread.Sleep(500);}
+
         }
 
         private void HexSimulation()
         {
-            
-            var optimalPath = GenerateHexPath();
+            var hexMap = (HexMap)_mapFactory.Maps["HexMap"];
+            _vehicle.CurrentHexCell = hexMap.StartingCell;
         }
         
 
         private void SquareSimulation()
         {
-            var optimalPath = GenerateSquarePath();
+            var squareMap = (SquareMap)_mapFactory.Maps["SquareMap"];
+            _vehicle.CurrentSquareCell = squareMap.StartingCell;
+            var optimalPath = _pathPlanner.GenerateOptimalSquarePath(squareMap, _vehicle);
         }
 
-        private object GenerateSquarePath()
-        {
-            throw new NotImplementedException();
-        }
-
-        private Queue<ICell> GenerateHexPath()
-        {
-            var path = new Queue<ICell>();
-            var currentCell = _vehicle.CurrentHexCell;
-            var possibles = _hexMap.PossibleMoves(currentCell);
-            while (currentCell != _hexMap.LastCell)
-            {
-                
-            }
-
-            return path;
-        }
     }
 }
\ No newline at end of file

From 257aaa331f3bfa4d7ef1e043f8afb6769b3d51c9 Mon Sep 17 00:00:00 2001
From: Brady Bodily <bradybod@gmail.com>
Date: Tue, 15 Dec 2020 00:09:29 -0700
Subject: [PATCH 10/13] Done for the night

Need to change planning algo for square to go right to left.
---
 .../.idea/contentModel.xml                    |  6 +-
 .../.idea.RobotIntelFinal/.idea/workspace.xml | 81 +++++++++----------
 ConsoleApp/ConsoleApp.csproj                  |  1 +
 ConsoleApp/CoreModule.cs                      |  1 +
 ConsoleApp/Maps/Cell.cs                       | 12 +--
 ConsoleApp/Maps/GlobalDirection.cs            |  6 +-
 ConsoleApp/Maps/HexMap.cs                     | 53 ++++++++++--
 ConsoleApp/Maps/ICell.cs                      |  1 -
 ConsoleApp/Maps/IMap.cs                       |  3 +
 ConsoleApp/Maps/SquareMap.cs                  |  6 +-
 ConsoleApp/{ => PathPlanners}/IPathPlanner.cs |  3 +-
 ConsoleApp/{ => PathPlanners}/PathPlanner.cs  |  7 +-
 ConsoleApp/SimRunner.cs                       |  6 +-
 13 files changed, 119 insertions(+), 67 deletions(-)
 rename ConsoleApp/{ => PathPlanners}/IPathPlanner.cs (63%)
 rename ConsoleApp/{ => PathPlanners}/PathPlanner.cs (91%)

diff --git a/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml b/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
index 95e7f7b..e2c567b 100644
--- a/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
+++ b/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
@@ -9,7 +9,6 @@
         <e p="CoreModule.cs" t="Include" />
         <e p="IJsonDeserializor.cs" t="Include" />
         <e p="IModule.cs" t="Include" />
-        <e p="IPathPlanner.cs" t="Include" />
         <e p="ISimRunner.cs" t="Include" />
         <e p="IUserConsole.cs" t="Include" />
         <e p="IVehicle.cs" t="Include" />
@@ -34,7 +33,10 @@
             </e>
           </e>
         </e>
-        <e p="PathPlanner.cs" t="Include" />
+        <e p="PathPlanners" t="Include">
+          <e p="IPathPlanner.cs" t="Include" />
+          <e p="PathPlanner.cs" t="Include" />
+        </e>
         <e p="Program.cs" t="Include" />
         <e p="SimRunner.cs" t="Include" />
         <e p="UserConsole.cs" t="Include" />
diff --git a/.idea/.idea.RobotIntelFinal/.idea/workspace.xml b/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
index 2817021..ba7d1e4 100644
--- a/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
+++ b/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
@@ -18,17 +18,18 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="dafcaeb7-80aa-43a3-a480-786fafb78c0b" name="Default Changelist" comment="">
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/IPathPlanner.cs" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/Maps/GlobalDirection.cs" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanner.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/CoreModule.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/CoreModule.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/Direction.cs" beforeDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/Heading.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/Heading.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/IPathPlanner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/IPathPlanner.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/GlobalDirection.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/GlobalDirection.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/ICell.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/ICell.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/IMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/IMap.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/PathPlanner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
@@ -47,29 +48,38 @@
     <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="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="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="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="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" />
   </component>
   <component name="IdeDocumentHistory">
     <changedPaths>
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/Heading.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/Direction.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/GlobalDirection.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMap.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/IPathPlanner.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/CoreModule.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/IPathPlanner.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/PathPlanner.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/IPathPlanner.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/GlobalDirection.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/HexCoordinates.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/Cell.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/ICell.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" />
     </changedPaths>
   </component>
   <component name="ProjectId" id="1lIZ7IfsUjzqV2Jb1obOFvGFAfp" />
@@ -147,7 +157,7 @@
       <workItem from="1607982179018" duration="634000" />
       <workItem from="1607983288378" duration="86000" />
       <workItem from="1607983862958" duration="7777000" />
-      <workItem from="1607993290571" duration="1876000" />
+      <workItem from="1607993290571" duration="14428000" />
     </task>
     <servers />
   </component>
@@ -175,44 +185,31 @@
     <breakpoint-manager>
       <breakpoints>
         <line-breakpoint enabled="true" type="DotNet Breakpoints">
-          <url>file://$PROJECT_DIR$/ConsoleApp/SimRunner.cs</url>
-          <line>49</line>
-          <properties documentPath="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" initialLine="49" containingFunctionPresentation="method 'SquareSimulation'">
-            <startOffsets>
-              <option value="1400" />
-            </startOffsets>
-            <endOffsets>
-              <option value="1427" />
-            </endOffsets>
-          </properties>
-          <option name="timeStamp" value="5" />
-        </line-breakpoint>
-        <line-breakpoint enabled="true" type="DotNet Breakpoints">
-          <url>file://$PROJECT_DIR$/ConsoleApp/SimRunner.cs</url>
-          <line>47</line>
-          <properties documentPath="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" initialLine="47" containingFunctionPresentation="method 'SquareSimulation'">
-            <startOffsets>
-              <option value="1340" />
-            </startOffsets>
-            <endOffsets>
-              <option value="1369" />
-            </endOffsets>
-          </properties>
-          <option name="timeStamp" value="19" />
-        </line-breakpoint>
-        <line-breakpoint enabled="true" type="DotNet Breakpoints">
-          <url>file://$PROJECT_DIR$/ConsoleApp/PathPlanner.cs</url>
+          <url>file://$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs</url>
           <line>34</line>
           <properties documentPath="$PROJECT_DIR$/ConsoleApp/PathPlanner.cs" initialLine="34" containingFunctionPresentation="method 'GenerateOptimalSquarePath'">
             <startOffsets>
-              <option value="1420" />
+              <option value="1433" />
             </startOffsets>
             <endOffsets>
-              <option value="1436" />
+              <option value="1449" />
             </endOffsets>
           </properties>
           <option name="timeStamp" value="24" />
         </line-breakpoint>
+        <line-breakpoint enabled="true" type="DotNet Breakpoints">
+          <url>file://$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs</url>
+          <line>62</line>
+          <properties documentPath="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" initialLine="63" containingFunctionPresentation="constructor 'HexMap'">
+            <startOffsets>
+              <option value="2218" />
+            </startOffsets>
+            <endOffsets>
+              <option value="2219" />
+            </endOffsets>
+          </properties>
+          <option name="timeStamp" value="33" />
+        </line-breakpoint>
       </breakpoints>
     </breakpoint-manager>
   </component>
diff --git a/ConsoleApp/ConsoleApp.csproj b/ConsoleApp/ConsoleApp.csproj
index cb79c52..0715900 100644
--- a/ConsoleApp/ConsoleApp.csproj
+++ b/ConsoleApp/ConsoleApp.csproj
@@ -15,6 +15,7 @@
 
     <ItemGroup>
       <PackageReference Include="DryIoc.dll" Version="4.5.2" />
+      <PackageReference Include="HexCore" Version="4.1.0" />
     </ItemGroup>
 
     <ItemGroup>
diff --git a/ConsoleApp/CoreModule.cs b/ConsoleApp/CoreModule.cs
index 0b9500a..53e0122 100644
--- a/ConsoleApp/CoreModule.cs
+++ b/ConsoleApp/CoreModule.cs
@@ -1,6 +1,7 @@
 using System.Text.Json;
 using System.Threading;
 using ConsoleApp.Maps;
+using ConsoleApp.PathPlanners;
 using DryIoc;
 
 namespace ConsoleApp
diff --git a/ConsoleApp/Maps/Cell.cs b/ConsoleApp/Maps/Cell.cs
index 1665631..a5b5f14 100644
--- a/ConsoleApp/Maps/Cell.cs
+++ b/ConsoleApp/Maps/Cell.cs
@@ -6,18 +6,14 @@ namespace ConsoleApp.Maps
     {
         public int X { get; }
         public int Y { get; }
-        public int Z { get; }
 
-        public Cell(int x, int y, int z = default)
+
+        public Cell(int x, int y)
         {
-            if (z != default)
-            {
-                if (x + y + z != 0) throw new ArgumentException("x + y + z must be 0");
-            }
-
             X = x;
             Y = y;
-            Z = z;
         }
+
+        
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/GlobalDirection.cs b/ConsoleApp/Maps/GlobalDirection.cs
index 8bff109..675471f 100644
--- a/ConsoleApp/Maps/GlobalDirection.cs
+++ b/ConsoleApp/Maps/GlobalDirection.cs
@@ -5,6 +5,10 @@ namespace ConsoleApp.Maps
         North,
         South,
         East,
-        West
+        West,
+        NorthEast,
+        SouthEast,
+        NorthWest,
+        SouthWest
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/HexMap.cs b/ConsoleApp/Maps/HexMap.cs
index 3ecba18..625c3d9 100644
--- a/ConsoleApp/Maps/HexMap.cs
+++ b/ConsoleApp/Maps/HexMap.cs
@@ -1,13 +1,17 @@
 using System;
 using System.Collections.Generic;
+using HexCore;
 
 namespace ConsoleApp.Maps
 {
     public class HexMap : IHexMap
     {
+        private int _mapHeight;
+        private int _mapWidth;
         public Cell[,] Map { get; }
         public Cell StartingCell { get; }
         public Cell LastCell { get; }
+        public Graph HexGraph { get; }
 
         /// <summary>
         /// Generate Hex map with cells of 25cm X 25cm
@@ -19,27 +23,60 @@ namespace ConsoleApp.Maps
             //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);
+
+            _mapHeight = yCellCount;
+            _mapWidth = xCellCount;
             
             //Initialize Map
             Map = new Cell[xCellCount, yCellCount];
-
-            //set last cell;
+            //set Starting cell;
             StartingCell = Map[0, 0];
-            for (int r = 0; r < yCellCount; r++) {
-                int r_offset = Convert.ToInt32(Math.Floor(Convert.ToDouble(r)/2));
-                for (int q = r_offset; q < xCellCount - r_offset; q++) {
-                    // Console.WriteLine($"r:{r}, q:{q}-----x:{x}, y:{y}");
-                    Map[r, q] = new Cell(q, r, -q-r);
+
+            var unclearedTerrain = new TerrainType(1, "uncleared");
+            var clearedTerrain = new TerrainType(2, "cleared");
+            //Populate Map
+            var list = new List<CellState>();
+            for (int i = 0; i < _mapHeight; i++)
+            {
+                for (int j = 0; j < _mapWidth; j++)
+                {
+                    list.Add(new CellState(false, new Coordinate2D(i, j, OffsetTypes.OddRowsRight), unclearedTerrain));
                 }
             }
+            var movement = new MovementType(1, "default");
+            var movementTypes = new MovementTypes(
+                new ITerrainType[] { unclearedTerrain, clearedTerrain }, 
+                new Dictionary<IMovementType, Dictionary<ITerrainType, int>>
+                {
+                    [movement] = new Dictionary<ITerrainType, int>
+                    {
+                        [unclearedTerrain] = 1,
+                        [clearedTerrain] = 2
+                    }
+                }
+            );
+            HexGraph = GraphFactory.CreateRectangularGraph(_mapWidth, _mapHeight, movementTypes, unclearedTerrain);
         }
 
         public List<GlobalDirection> PossibleMoves(ICell currentCell)
         {
-            throw new NotImplementedException();
+            var x = currentCell.X;
+            var y = currentCell.Y;
+            var possibles = new List<GlobalDirection>();
+            
+            if(currentCell.Y != _mapHeight)
+                possibles.Add(GlobalDirection.North);
+            
+            if(currentCell.Y != 0)
+                possibles.Add(GlobalDirection.South);
+            
+            if(currentCell.X != _mapWidth && currentCell.Y != _mapHeight)
+                possibles.Add(GlobalDirection.NorthEast);
+            return possibles;
         }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/ICell.cs b/ConsoleApp/Maps/ICell.cs
index 034be3f..4faabb8 100644
--- a/ConsoleApp/Maps/ICell.cs
+++ b/ConsoleApp/Maps/ICell.cs
@@ -4,6 +4,5 @@ namespace ConsoleApp.Maps
     {
         int X { get; }
         int Y { get; }
-        int Z { get; }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/IMap.cs b/ConsoleApp/Maps/IMap.cs
index a00f3fb..5be44cf 100644
--- a/ConsoleApp/Maps/IMap.cs
+++ b/ConsoleApp/Maps/IMap.cs
@@ -1,5 +1,6 @@
 using System.Collections.Generic;
 using System.ComponentModel;
+using HexCore;
 
 namespace ConsoleApp.Maps
 {
@@ -9,5 +10,7 @@ namespace ConsoleApp.Maps
         Cell StartingCell { get; }
         Cell LastCell { get; }
         public List<GlobalDirection> PossibleMoves(ICell currentCell);
+        
+        Graph HexGraph { get; }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/SquareMap.cs b/ConsoleApp/Maps/SquareMap.cs
index 4a6f158..9a3174b 100644
--- a/ConsoleApp/Maps/SquareMap.cs
+++ b/ConsoleApp/Maps/SquareMap.cs
@@ -1,5 +1,6 @@
 using System;
 using System.Collections.Generic;
+using HexCore;
 
 namespace ConsoleApp.Maps
 {
@@ -16,6 +17,7 @@ namespace ConsoleApp.Maps
         private int _mapHeight;
         public SquareMap(int x, int y)
         {
+            HexGraph = default;
             //convert to cm
             x *= 100;
             y *= 100;
@@ -23,7 +25,7 @@ namespace ConsoleApp.Maps
             var xCellCount = (int)Math.Ceiling((decimal) (x) / 25);
             var yCellCount = (int)Math.Ceiling((decimal) (y) / 25);
             
-            //set Width and height fields
+            //set Width and height fields and Properties
             _mapWidth = xCellCount-1;
             _mapHeight = yCellCount-1;
             Height = _mapHeight;
@@ -60,6 +62,8 @@ namespace ConsoleApp.Maps
             return possibles;
         }
 
+        public Graph HexGraph { get; }
+
         public Cell this[in int x, in int y] => Map[x, y];
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/IPathPlanner.cs b/ConsoleApp/PathPlanners/IPathPlanner.cs
similarity index 63%
rename from ConsoleApp/IPathPlanner.cs
rename to ConsoleApp/PathPlanners/IPathPlanner.cs
index c71d52d..16688bf 100644
--- a/ConsoleApp/IPathPlanner.cs
+++ b/ConsoleApp/PathPlanners/IPathPlanner.cs
@@ -1,11 +1,12 @@
 using System.Collections.Generic;
 using ConsoleApp.Maps;
 
-namespace ConsoleApp
+namespace ConsoleApp.PathPlanners
 {
     public interface IPathPlanner
     {
         Queue<ICell> GenerateOptimalSquarePath(SquareMap map, IVehicle vehicle);
+        Queue<ICell> GenerateOptimalHexPath(HexMap hexMap, IVehicle vehicle);
     }
     
 }
\ No newline at end of file
diff --git a/ConsoleApp/PathPlanner.cs b/ConsoleApp/PathPlanners/PathPlanner.cs
similarity index 91%
rename from ConsoleApp/PathPlanner.cs
rename to ConsoleApp/PathPlanners/PathPlanner.cs
index 2a75207..5be9589 100644
--- a/ConsoleApp/PathPlanner.cs
+++ b/ConsoleApp/PathPlanners/PathPlanner.cs
@@ -2,7 +2,7 @@ using System;
 using System.Collections.Generic;
 using ConsoleApp.Maps;
 
-namespace ConsoleApp
+namespace ConsoleApp.PathPlanners
 {
     public class PathPlanner : IPathPlanner
     {
@@ -52,5 +52,10 @@ namespace ConsoleApp
 
             return path;
         }
+
+        public Queue<ICell> GenerateOptimalHexPath(HexMap hexMap, IVehicle vehicle)
+        {
+            throw new NotImplementedException();
+        }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/SimRunner.cs b/ConsoleApp/SimRunner.cs
index 5c55a52..ac695bc 100644
--- a/ConsoleApp/SimRunner.cs
+++ b/ConsoleApp/SimRunner.cs
@@ -3,6 +3,7 @@ using System.Collections.Generic;
 using System.Threading;
 using System.Threading.Tasks;
 using ConsoleApp.Maps;
+using ConsoleApp.PathPlanners;
 
 namespace ConsoleApp
 {
@@ -27,8 +28,8 @@ namespace ConsoleApp
         public void Run()
         {
 
-            SquareSimulation();
-            // var hexTask = Task.Run(() => HexSimulation());
+            //SquareSimulation();
+            HexSimulation();
             // while(!squareTask.IsCompleted && !hexTask.IsCompleted){Thread.Sleep(500);}
 
         }
@@ -37,6 +38,7 @@ namespace ConsoleApp
         {
             var hexMap = (HexMap)_mapFactory.Maps["HexMap"];
             _vehicle.CurrentHexCell = hexMap.StartingCell;
+            var optimalPath = _pathPlanner.GenerateOptimalHexPath(hexMap, _vehicle);
         }
         
 

From 00444fbba9a1fbf946ae61586c3d76823a48b05e Mon Sep 17 00:00:00 2001
From: Brady Bodily <bradybod@gmail.com>
Date: Tue, 15 Dec 2020 00:37:47 -0700
Subject: [PATCH 11/13] Cleaned up some files

---
 .../.idea/contentModel.xml                    |  1 -
 .../.idea.RobotIntelFinal/.idea/workspace.xml | 49 ++++++++-----------
 ConsoleApp/IVehicle.cs                        |  2 +-
 ConsoleApp/Maps/HexMap.cs                     | 49 ++++---------------
 ConsoleApp/Maps/IHexMap.cs                    |  6 ++-
 ConsoleApp/Maps/IMap.cs                       | 16 ------
 ConsoleApp/Maps/IMapFactory.cs                |  3 +-
 ConsoleApp/Maps/ISquareMap.cs                 | 13 ++++-
 ConsoleApp/Maps/MapFactory.cs                 | 17 +++++--
 ConsoleApp/Maps/SquareMap.cs                  | 27 +++++-----
 ConsoleApp/PathPlanners/IPathPlanner.cs       |  2 +-
 ConsoleApp/PathPlanners/PathPlanner.cs        | 16 +++---
 ConsoleApp/Program.cs                         |  1 +
 ConsoleApp/SimRunner.cs                       | 11 +++--
 ConsoleApp/UserConsole.cs                     |  2 -
 ConsoleApp/Vehicle.cs                         |  2 +-
 16 files changed, 93 insertions(+), 124 deletions(-)
 delete mode 100644 ConsoleApp/Maps/IMap.cs

diff --git a/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml b/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
index e2c567b..d36be7c 100644
--- a/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
+++ b/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
@@ -20,7 +20,6 @@
           <e p="HexMap.cs" t="Include" />
           <e p="ICell.cs" t="Include" />
           <e p="IHexMap.cs" t="Include" />
-          <e p="IMap.cs" t="Include" />
           <e p="IMapFactory.cs" t="Include" />
           <e p="ISquareMap.cs" t="Include" />
           <e p="MapFactory.cs" t="Include" />
diff --git a/.idea/.idea.RobotIntelFinal/.idea/workspace.xml b/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
index ba7d1e4..e89dcd6 100644
--- a/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
+++ b/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
@@ -18,19 +18,19 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="dafcaeb7-80aa-43a3-a480-786fafb78c0b" name="Default Changelist" comment="">
-      <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/IPathPlanner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/IPathPlanner.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/GlobalDirection.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/GlobalDirection.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/IVehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/IVehicle.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/ICell.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/ICell.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/IMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/IMap.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/IMap.cs" beforeDir="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/ISquareMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/ISquareMap.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/SquareMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/PathPlanner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.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/PathPlanners/PathPlanner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -70,16 +70,22 @@
       <option value="$PROJECT_DIR$/ConsoleApp/CoreModule.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/IPathPlanner.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/PathPlanner.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/IPathPlanner.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/GlobalDirection.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/HexCoordinates.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/Cell.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/ICell.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMapFactory.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/IVehicle.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/IPathPlanner.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/ISquareMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/IHexMap.cs" />
     </changedPaths>
   </component>
   <component name="ProjectId" id="1lIZ7IfsUjzqV2Jb1obOFvGFAfp" />
@@ -157,7 +163,7 @@
       <workItem from="1607982179018" duration="634000" />
       <workItem from="1607983288378" duration="86000" />
       <workItem from="1607983862958" duration="7777000" />
-      <workItem from="1607993290571" duration="14428000" />
+      <workItem from="1607993290571" duration="16131000" />
     </task>
     <servers />
   </component>
@@ -189,27 +195,14 @@
           <line>34</line>
           <properties documentPath="$PROJECT_DIR$/ConsoleApp/PathPlanner.cs" initialLine="34" containingFunctionPresentation="method 'GenerateOptimalSquarePath'">
             <startOffsets>
-              <option value="1433" />
+              <option value="1466" />
             </startOffsets>
             <endOffsets>
-              <option value="1449" />
+              <option value="1482" />
             </endOffsets>
           </properties>
           <option name="timeStamp" value="24" />
         </line-breakpoint>
-        <line-breakpoint enabled="true" type="DotNet Breakpoints">
-          <url>file://$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs</url>
-          <line>62</line>
-          <properties documentPath="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" initialLine="63" containingFunctionPresentation="constructor 'HexMap'">
-            <startOffsets>
-              <option value="2218" />
-            </startOffsets>
-            <endOffsets>
-              <option value="2219" />
-            </endOffsets>
-          </properties>
-          <option name="timeStamp" value="33" />
-        </line-breakpoint>
       </breakpoints>
     </breakpoint-manager>
   </component>
diff --git a/ConsoleApp/IVehicle.cs b/ConsoleApp/IVehicle.cs
index 2f55f3c..4d47053 100644
--- a/ConsoleApp/IVehicle.cs
+++ b/ConsoleApp/IVehicle.cs
@@ -8,7 +8,7 @@ namespace ConsoleApp
         int Width { get; }
         int DetectorOffset { get;}
         int DetectorWidth { get;}
-        ICell CurrentHexCell { get; set; }
+        HexCore.Coordinate2D CurrentHexCell { get; set; }
         Heading HexHeading { get; set; }
         Heading SquareHeading { get; set; }
         ICell CurrentSquareCell { get; set; }
diff --git a/ConsoleApp/Maps/HexMap.cs b/ConsoleApp/Maps/HexMap.cs
index 625c3d9..39b2311 100644
--- a/ConsoleApp/Maps/HexMap.cs
+++ b/ConsoleApp/Maps/HexMap.cs
@@ -6,12 +6,12 @@ namespace ConsoleApp.Maps
 {
     public class HexMap : IHexMap
     {
-        private int _mapHeight;
-        private int _mapWidth;
-        public Cell[,] Map { get; }
-        public Cell StartingCell { get; }
-        public Cell LastCell { get; }
-        public Graph HexGraph { get; }
+
+        public int Width { get; }
+
+        public int Height { get; }
+
+        public Graph Graph { get; }
 
         /// <summary>
         /// Generate Hex map with cells of 25cm X 25cm
@@ -28,25 +28,12 @@ namespace ConsoleApp.Maps
             var xCellCount = (int)Math.Ceiling((decimal) (x) / 25);
             var yCellCount = (int)Math.Ceiling((decimal) (y) / 25);
 
-            _mapHeight = yCellCount;
-            _mapWidth = xCellCount;
+            Height = yCellCount;
+            Width = xCellCount;
             
-            //Initialize Map
-            Map = new Cell[xCellCount, yCellCount];
-            //set Starting cell;
-            StartingCell = Map[0, 0];
-
             var unclearedTerrain = new TerrainType(1, "uncleared");
             var clearedTerrain = new TerrainType(2, "cleared");
-            //Populate Map
-            var list = new List<CellState>();
-            for (int i = 0; i < _mapHeight; i++)
-            {
-                for (int j = 0; j < _mapWidth; j++)
-                {
-                    list.Add(new CellState(false, new Coordinate2D(i, j, OffsetTypes.OddRowsRight), unclearedTerrain));
-                }
-            }
+            
             var movement = new MovementType(1, "default");
             var movementTypes = new MovementTypes(
                 new ITerrainType[] { unclearedTerrain, clearedTerrain }, 
@@ -59,24 +46,8 @@ namespace ConsoleApp.Maps
                     }
                 }
             );
-            HexGraph = GraphFactory.CreateRectangularGraph(_mapWidth, _mapHeight, movementTypes, unclearedTerrain);
+            Graph = GraphFactory.CreateRectangularGraph(Width, Height, movementTypes, unclearedTerrain);
         }
 
-        public List<GlobalDirection> PossibleMoves(ICell currentCell)
-        {
-            var x = currentCell.X;
-            var y = currentCell.Y;
-            var possibles = new List<GlobalDirection>();
-            
-            if(currentCell.Y != _mapHeight)
-                possibles.Add(GlobalDirection.North);
-            
-            if(currentCell.Y != 0)
-                possibles.Add(GlobalDirection.South);
-            
-            if(currentCell.X != _mapWidth && currentCell.Y != _mapHeight)
-                possibles.Add(GlobalDirection.NorthEast);
-            return possibles;
-        }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/IHexMap.cs b/ConsoleApp/Maps/IHexMap.cs
index b4cd82f..f535182 100644
--- a/ConsoleApp/Maps/IHexMap.cs
+++ b/ConsoleApp/Maps/IHexMap.cs
@@ -1,7 +1,9 @@
+using HexCore;
+
 namespace ConsoleApp.Maps
 {
-    public interface IHexMap : IMap
+    public interface IHexMap
     {
-        
+        Graph Graph { get; }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/IMap.cs b/ConsoleApp/Maps/IMap.cs
deleted file mode 100644
index 5be44cf..0000000
--- a/ConsoleApp/Maps/IMap.cs
+++ /dev/null
@@ -1,16 +0,0 @@
-using System.Collections.Generic;
-using System.ComponentModel;
-using HexCore;
-
-namespace ConsoleApp.Maps
-{
-    public interface IMap
-    {
-        public Cell[,] Map { get; }
-        Cell StartingCell { get; }
-        Cell LastCell { get; }
-        public List<GlobalDirection> PossibleMoves(ICell currentCell);
-        
-        Graph HexGraph { get; }
-    }
-}
\ No newline at end of file
diff --git a/ConsoleApp/Maps/IMapFactory.cs b/ConsoleApp/Maps/IMapFactory.cs
index a4b8eae..ec72df4 100644
--- a/ConsoleApp/Maps/IMapFactory.cs
+++ b/ConsoleApp/Maps/IMapFactory.cs
@@ -8,7 +8,8 @@ namespace ConsoleApp.Maps
         int Height { get; }
         int Width { get; }
         int CellWidth { get; }
-        Dictionary<string, IMap> Maps { get; }
         void GenerateMaps(int x, int y);
+        IHexMap GetHexMap();
+        ISquareMap GetSquareMap();
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/ISquareMap.cs b/ConsoleApp/Maps/ISquareMap.cs
index ccdd19a..7c5bf05 100644
--- a/ConsoleApp/Maps/ISquareMap.cs
+++ b/ConsoleApp/Maps/ISquareMap.cs
@@ -1,7 +1,16 @@
+using System.Collections.Generic;
+using HexCore;
+
 namespace ConsoleApp.Maps
 {
-    public interface ISquareMap : IMap
+    public interface ISquareMap
     {
-        
+        Cell[,] Map { get; }
+        Cell StartingCell { get; }
+        Cell LastCell { get; }
+        List<GlobalDirection> PossibleMoves(ICell currentCell);
+        Cell GetCell(int x, int y);
+        int Height { get; }
+        int Width { get; }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/MapFactory.cs b/ConsoleApp/Maps/MapFactory.cs
index 7e165b8..383e613 100644
--- a/ConsoleApp/Maps/MapFactory.cs
+++ b/ConsoleApp/Maps/MapFactory.cs
@@ -1,3 +1,4 @@
+using System;
 using System.Collections.Generic;
 
 namespace ConsoleApp.Maps
@@ -8,18 +9,23 @@ namespace ConsoleApp.Maps
         private int _defaultWidth;
         public int Height { get; protected set; }
         public int Width { get; protected set; }
-        public int CellWidth { get; protected set; }
+        public int CellWidth { get; }
+        
 
-        public Dictionary<string, IMap> Maps { get; }
+        
+        private ISquareMap _squareMap;
 
+        private IHexMap _hexMap;
 
         public void GenerateMaps(int x, int y)
         {
             Width = x;
             Height = y;
-            Maps.Add("SquareMap",new SquareMap(x, y));
-            Maps.Add("HexMap", new HexMap(x, y));
+            _squareMap = new SquareMap(x, y);
+            _hexMap = new HexMap(x, y);
         }
+        public IHexMap GetHexMap() => _hexMap ?? throw new NullReferenceException("hex map not initialized");
+        public ISquareMap GetSquareMap() => _squareMap ?? throw new NullReferenceException("square map not initialized");
 
         public MapFactory(IVehicle vehicle)
         {
@@ -28,7 +34,8 @@ namespace ConsoleApp.Maps
             _defaultWidth = 0;
             Height = _defaultHeight;
             Width = _defaultWidth;
-            Maps = new Dictionary<string, IMap>();
+            _hexMap = default;
+            _squareMap = default;
         }
         
     }
diff --git a/ConsoleApp/Maps/SquareMap.cs b/ConsoleApp/Maps/SquareMap.cs
index 9a3174b..287a70d 100644
--- a/ConsoleApp/Maps/SquareMap.cs
+++ b/ConsoleApp/Maps/SquareMap.cs
@@ -1,6 +1,7 @@
 using System;
 using System.Collections.Generic;
 using HexCore;
+using ImTools;
 
 namespace ConsoleApp.Maps
 {
@@ -12,9 +13,11 @@ namespace ConsoleApp.Maps
         public int Height { get; }
         public int Width { get; }
 
-
-        private int _mapWidth;
-        private int _mapHeight;
+        /// <summary>
+        /// Returns a map with square cells
+        /// </summary>
+        /// <param name="x"></param>
+        /// <param name="y"></param>
         public SquareMap(int x, int y)
         {
             HexGraph = default;
@@ -25,11 +28,10 @@ namespace ConsoleApp.Maps
             var xCellCount = (int)Math.Ceiling((decimal) (x) / 25);
             var yCellCount = (int)Math.Ceiling((decimal) (y) / 25);
             
-            //set Width and height fields and Properties
-            _mapWidth = xCellCount-1;
-            _mapHeight = yCellCount-1;
-            Height = _mapHeight;
-            Width = _mapWidth;
+            //set Width and height Properties
+            Width = xCellCount-1;
+            Height = yCellCount-1;
+
             
             //Initialize Map
             Map = new Cell[xCellCount, yCellCount];
@@ -52,18 +54,19 @@ namespace ConsoleApp.Maps
             var possibles = new List<GlobalDirection>();
             if (currentCell.X != 0)
                 possibles.Add(GlobalDirection.West);
-            if (currentCell.X != _mapWidth)
+            if (currentCell.X != Width)
                 possibles.Add(GlobalDirection.East);
-            if (currentCell.Y != _mapHeight)
+            if (currentCell.Y != Height)
                 possibles.Add(GlobalDirection.North);
             if (currentCell.Y != 0)
                 possibles.Add(GlobalDirection.South);
 
             return possibles;
         }
-
+        
         public Graph HexGraph { get; }
 
-        public Cell this[in int x, in int y] => Map[x, y];
+        public Cell GetCell(int x, int y) => Map[x, y];
+
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/PathPlanners/IPathPlanner.cs b/ConsoleApp/PathPlanners/IPathPlanner.cs
index 16688bf..a48b27d 100644
--- a/ConsoleApp/PathPlanners/IPathPlanner.cs
+++ b/ConsoleApp/PathPlanners/IPathPlanner.cs
@@ -5,7 +5,7 @@ namespace ConsoleApp.PathPlanners
 {
     public interface IPathPlanner
     {
-        Queue<ICell> GenerateOptimalSquarePath(SquareMap map, IVehicle vehicle);
+        Queue<ICell> GenerateOptimalSquarePath(ISquareMap map, IVehicle vehicle);
         Queue<ICell> GenerateOptimalHexPath(HexMap hexMap, IVehicle vehicle);
     }
     
diff --git a/ConsoleApp/PathPlanners/PathPlanner.cs b/ConsoleApp/PathPlanners/PathPlanner.cs
index 5be9589..52f005d 100644
--- a/ConsoleApp/PathPlanners/PathPlanner.cs
+++ b/ConsoleApp/PathPlanners/PathPlanner.cs
@@ -6,7 +6,7 @@ namespace ConsoleApp.PathPlanners
 {
     public class PathPlanner : IPathPlanner
     {
-        public Queue<ICell> GenerateOptimalSquarePath(SquareMap map, IVehicle vehicle)
+        public Queue<ICell> GenerateOptimalSquarePath(ISquareMap map, IVehicle vehicle)
         {
             var path = new Queue<ICell>();
             var myCell = map.StartingCell;
@@ -20,13 +20,13 @@ namespace ConsoleApp.PathPlanners
                 if (availableMoves.Contains(GlobalDirection.North) && currentHeading == GlobalDirection.North &&
                     myCell.Y != map.Height)
                 {
-                    path.Enqueue(map[myCell.X, myCell.Y + 1]);
-                    myCell = map[myCell.X, myCell.Y + 1];
+                    path.Enqueue(map.GetCell(myCell.X, myCell.Y + 1));
+                    myCell = map.GetCell(myCell.X, myCell.Y + 1);
                 }
                 else if (availableMoves.Contains(GlobalDirection.South) && currentHeading == GlobalDirection.South && myCell.Y != 0)
                 {
-                    path.Enqueue(map[myCell.X, myCell.Y - 1]);
-                    myCell = map[myCell.X, myCell.Y - 1];
+                    path.Enqueue(map.GetCell(myCell.X, myCell.Y - 1));
+                    myCell = map.GetCell(myCell.X, myCell.Y - 1);
                 }
                 else
                 {
@@ -38,9 +38,9 @@ namespace ConsoleApp.PathPlanners
                     {
                         for (int i = myCell.X; i < myCell.X + swathOffset; i++)
                         {
-                            path.Enqueue(map[i, myCell.Y]);
+                            path.Enqueue(map.GetCell(i, myCell.Y));
                         }
-                        myCell = map[myCell.X+swathOffset, myCell.Y];
+                        myCell = map.GetCell(myCell.X+swathOffset, myCell.Y);
                         if (currentHeading == GlobalDirection.North)
                             currentHeading = GlobalDirection.South;
                         else if (currentHeading == GlobalDirection.South)
@@ -52,7 +52,7 @@ namespace ConsoleApp.PathPlanners
 
             return path;
         }
-
+        
         public Queue<ICell> GenerateOptimalHexPath(HexMap hexMap, IVehicle vehicle)
         {
             throw new NotImplementedException();
diff --git a/ConsoleApp/Program.cs b/ConsoleApp/Program.cs
index 247c69f..ca6d342 100644
--- a/ConsoleApp/Program.cs
+++ b/ConsoleApp/Program.cs
@@ -13,6 +13,7 @@ namespace ConsoleApp
             _bootstrapper = BootStrapper.BootstrapSystem(new CoreModule());
             _userConsole = new UserConsole();
             Initialization();
+            Console.WriteLine("Program Completed");
         }
 
         private static void Initialization()
diff --git a/ConsoleApp/SimRunner.cs b/ConsoleApp/SimRunner.cs
index ac695bc..efd89da 100644
--- a/ConsoleApp/SimRunner.cs
+++ b/ConsoleApp/SimRunner.cs
@@ -4,6 +4,7 @@ using System.Threading;
 using System.Threading.Tasks;
 using ConsoleApp.Maps;
 using ConsoleApp.PathPlanners;
+using HexCore;
 
 namespace ConsoleApp
 {
@@ -28,7 +29,7 @@ namespace ConsoleApp
         public void Run()
         {
 
-            //SquareSimulation();
+            SquareSimulation();
             HexSimulation();
             // while(!squareTask.IsCompleted && !hexTask.IsCompleted){Thread.Sleep(500);}
 
@@ -36,15 +37,15 @@ namespace ConsoleApp
 
         private void HexSimulation()
         {
-            var hexMap = (HexMap)_mapFactory.Maps["HexMap"];
-            _vehicle.CurrentHexCell = hexMap.StartingCell;
-            var optimalPath = _pathPlanner.GenerateOptimalHexPath(hexMap, _vehicle);
+            var hexMap = _mapFactory.GetHexMap();
+            _vehicle.CurrentHexCell = new Coordinate2D(0, 0, OffsetTypes.OddRowsRight);
+            //var optimalPath = _pathPlanner.GenerateOptimalHexPath(hexMap, _vehicle);
         }
         
 
         private void SquareSimulation()
         {
-            var squareMap = (SquareMap)_mapFactory.Maps["SquareMap"];
+            var squareMap = _mapFactory.GetSquareMap();
             _vehicle.CurrentSquareCell = squareMap.StartingCell;
             var optimalPath = _pathPlanner.GenerateOptimalSquarePath(squareMap, _vehicle);
         }
diff --git a/ConsoleApp/UserConsole.cs b/ConsoleApp/UserConsole.cs
index 33f2d23..b76ee46 100644
--- a/ConsoleApp/UserConsole.cs
+++ b/ConsoleApp/UserConsole.cs
@@ -7,8 +7,6 @@ namespace ConsoleApp
 {
     public class UserConsole : IUserConsole
     {
-        private IMapFactory _mapFactory;
-
         public UserConsole()
         {
         }
diff --git a/ConsoleApp/Vehicle.cs b/ConsoleApp/Vehicle.cs
index d3e7f42..78b6503 100644
--- a/ConsoleApp/Vehicle.cs
+++ b/ConsoleApp/Vehicle.cs
@@ -10,7 +10,7 @@ namespace ConsoleApp
 
         public int DetectorOffset { get;}
         public int DetectorWidth { get;}
-        public ICell CurrentHexCell { get; set; }
+        public HexCore.Coordinate2D CurrentHexCell { get; set; }
         public Heading HexHeading { get; set; }
         public Heading SquareHeading { get; set; }
         public ICell CurrentSquareCell { get; set; }

From 45eca3b57214fe252d3a60ffd9ff62f538a3b07a Mon Sep 17 00:00:00 2001
From: Brady Bodily <bradybod@gmail.com>
Date: Tue, 15 Dec 2020 15:46:45 -0700
Subject: [PATCH 12/13] Back up

---
 .../.idea/contentModel.xml                    | 11 +++--
 .../.idea.RobotIntelFinal/.idea/workspace.xml | 49 ++++++++++++++-----
 ConsoleApp/ConsoleApp.csproj                  |  2 +-
 ConsoleApp/Maps/HexMap.cs                     | 13 ++++-
 ConsoleApp/Maps/IHexMap.cs                    |  4 ++
 ConsoleApp/Maps/ISquareMap.cs                 |  1 +
 ConsoleApp/Maps/MapFactory.cs                 |  1 +
 ConsoleApp/Maps/SquareMap.cs                  | 49 +++++++++++++++++--
 ConsoleApp/PathPlanners/IPathPlanner.cs       |  3 +-
 ConsoleApp/PathPlanners/PathPlanner.cs        |  9 +++-
 ConsoleApp/SimRunner.cs                       |  3 +-
 ConsoleApp/Vehicle/DetectionHead.cs           | 20 ++++++++
 ConsoleApp/{ => Vehicle}/IVehicle.cs          |  4 +-
 ConsoleApp/{ => Vehicle}/Vehicle.cs           | 13 +++--
 .../{ => Vehicle}/VehicleConfiguration.cs     |  4 +-
 .../{ => Vehicle}/VehicleConfiguration.json   |  0
 16 files changed, 146 insertions(+), 40 deletions(-)
 create mode 100644 ConsoleApp/Vehicle/DetectionHead.cs
 rename ConsoleApp/{ => Vehicle}/IVehicle.cs (84%)
 rename ConsoleApp/{ => Vehicle}/Vehicle.cs (72%)
 rename ConsoleApp/{ => Vehicle}/VehicleConfiguration.cs (70%)
 rename ConsoleApp/{ => Vehicle}/VehicleConfiguration.json (100%)

diff --git a/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml b/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
index d36be7c..2c926b7 100644
--- a/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
+++ b/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
@@ -11,7 +11,6 @@
         <e p="IModule.cs" t="Include" />
         <e p="ISimRunner.cs" t="Include" />
         <e p="IUserConsole.cs" t="Include" />
-        <e p="IVehicle.cs" t="Include" />
         <e p="JsonDeserializor.cs" t="Include" />
         <e p="Maps" t="Include">
           <e p="Cell.cs" t="Include" />
@@ -39,9 +38,13 @@
         <e p="Program.cs" t="Include" />
         <e p="SimRunner.cs" t="Include" />
         <e p="UserConsole.cs" t="Include" />
-        <e p="Vehicle.cs" t="Include" />
-        <e p="VehicleConfiguration.cs" t="Include" />
-        <e p="VehicleConfiguration.json" t="Include" />
+        <e p="Vehicle" t="Include">
+          <e p="DetectionHead.cs" t="Include" />
+          <e p="IVehicle.cs" t="Include" />
+          <e p="Vehicle.cs" t="Include" />
+          <e p="VehicleConfiguration.cs" t="Include" />
+          <e p="VehicleConfiguration.json" t="Include" />
+        </e>
       </e>
       <e p="packages" t="ExcludeRecursive" />
       <e p="RobotIntelFinal.sln" t="IncludeFlat" />
diff --git a/.idea/.idea.RobotIntelFinal/.idea/workspace.xml b/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
index e89dcd6..0a6ccca 100644
--- a/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
+++ b/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
@@ -18,19 +18,23 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="dafcaeb7-80aa-43a3-a480-786fafb78c0b" name="Default Changelist" comment="">
+      <change afterPath="$PROJECT_DIR$/ConsoleApp/Vehicle/DetectionHead.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/IVehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/IVehicle.cs" 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/IVehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Vehicle/IVehicle.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/IMap.cs" beforeDir="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/ISquareMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/ISquareMap.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/SquareMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.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/PathPlanners/PathPlanner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Vehicle/Vehicle.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/VehicleConfiguration.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Vehicle/VehicleConfiguration.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/VehicleConfiguration.json" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Vehicle/VehicleConfiguration.json" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -77,15 +81,21 @@
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMapFactory.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/IVehicle.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/IPathPlanner.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMap.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/ISquareMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Program.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/IPathPlanner.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/IHexMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.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/PathPlanners/PathPlanner.cs" />
     </changedPaths>
   </component>
   <component name="ProjectId" id="1lIZ7IfsUjzqV2Jb1obOFvGFAfp" />
@@ -163,7 +173,7 @@
       <workItem from="1607982179018" duration="634000" />
       <workItem from="1607983288378" duration="86000" />
       <workItem from="1607983862958" duration="7777000" />
-      <workItem from="1607993290571" duration="16131000" />
+      <workItem from="1607993290571" duration="28469000" />
     </task>
     <servers />
   </component>
@@ -195,14 +205,27 @@
           <line>34</line>
           <properties documentPath="$PROJECT_DIR$/ConsoleApp/PathPlanner.cs" initialLine="34" containingFunctionPresentation="method 'GenerateOptimalSquarePath'">
             <startOffsets>
-              <option value="1466" />
+              <option value="1512" />
             </startOffsets>
             <endOffsets>
-              <option value="1482" />
+              <option value="1528" />
             </endOffsets>
           </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>61</line>
+          <properties documentPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" initialLine="62" containingFunctionPresentation="method 'GenerateOptimalHexPath'">
+            <startOffsets>
+              <option value="2509" />
+            </startOffsets>
+            <endOffsets>
+              <option value="2530" />
+            </endOffsets>
+          </properties>
+          <option name="timeStamp" value="34" />
+        </line-breakpoint>
       </breakpoints>
     </breakpoint-manager>
   </component>
diff --git a/ConsoleApp/ConsoleApp.csproj b/ConsoleApp/ConsoleApp.csproj
index 0715900..02c0777 100644
--- a/ConsoleApp/ConsoleApp.csproj
+++ b/ConsoleApp/ConsoleApp.csproj
@@ -19,7 +19,7 @@
     </ItemGroup>
 
     <ItemGroup>
-      <None Update="VehicleConfiguration.json">
+      <None Update="Vehicle\VehicleConfiguration.json">
         <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
       </None>
     </ItemGroup>
diff --git a/ConsoleApp/Maps/HexMap.cs b/ConsoleApp/Maps/HexMap.cs
index 39b2311..bbb7b51 100644
--- a/ConsoleApp/Maps/HexMap.cs
+++ b/ConsoleApp/Maps/HexMap.cs
@@ -1,6 +1,8 @@
 using System;
 using System.Collections.Generic;
+using System.Linq;
 using HexCore;
+using ImTools;
 
 namespace ConsoleApp.Maps
 {
@@ -12,6 +14,10 @@ namespace ConsoleApp.Maps
         public int Height { get; }
 
         public Graph Graph { get; }
+        
+        public OffsetTypes OffsetType { get; }
+        public MovementType DefaultMovement { get; }
+
 
         /// <summary>
         /// Generate Hex map with cells of 25cm X 25cm
@@ -20,6 +26,8 @@ namespace ConsoleApp.Maps
         /// <param name="y"></param>
         public HexMap(int x, int y)
         {
+            //Set Offset Type for 2d -> 3d conversion
+            OffsetType = OffsetTypes.OddRowsRight;
             //convert to cm
             x *= 100;
             y *= 100;
@@ -34,12 +42,12 @@ namespace ConsoleApp.Maps
             var unclearedTerrain = new TerrainType(1, "uncleared");
             var clearedTerrain = new TerrainType(2, "cleared");
             
-            var movement = new MovementType(1, "default");
+            DefaultMovement = new MovementType(1, "default");
             var movementTypes = new MovementTypes(
                 new ITerrainType[] { unclearedTerrain, clearedTerrain }, 
                 new Dictionary<IMovementType, Dictionary<ITerrainType, int>>
                 {
-                    [movement] = new Dictionary<ITerrainType, int>
+                    [DefaultMovement] = new Dictionary<ITerrainType, int>
                     {
                         [unclearedTerrain] = 1,
                         [clearedTerrain] = 2
@@ -49,5 +57,6 @@ namespace ConsoleApp.Maps
             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 f535182..a979480 100644
--- a/ConsoleApp/Maps/IHexMap.cs
+++ b/ConsoleApp/Maps/IHexMap.cs
@@ -5,5 +5,9 @@ namespace ConsoleApp.Maps
     public interface IHexMap
     {
         Graph Graph { get; }
+        OffsetTypes OffsetType { get; }
+        int Width { get; }
+        int Height { get; }
+        MovementType DefaultMovement { get; }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/ISquareMap.cs b/ConsoleApp/Maps/ISquareMap.cs
index 7c5bf05..3d5e915 100644
--- a/ConsoleApp/Maps/ISquareMap.cs
+++ b/ConsoleApp/Maps/ISquareMap.cs
@@ -12,5 +12,6 @@ namespace ConsoleApp.Maps
         Cell GetCell(int x, int y);
         int Height { get; }
         int Width { get; }
+        List<Cell> GetRange(Cell centerCell, int radius);
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/MapFactory.cs b/ConsoleApp/Maps/MapFactory.cs
index 383e613..1866971 100644
--- a/ConsoleApp/Maps/MapFactory.cs
+++ b/ConsoleApp/Maps/MapFactory.cs
@@ -1,5 +1,6 @@
 using System;
 using System.Collections.Generic;
+using ConsoleApp.Vehicle;
 
 namespace ConsoleApp.Maps
 {
diff --git a/ConsoleApp/Maps/SquareMap.cs b/ConsoleApp/Maps/SquareMap.cs
index 287a70d..3ad78b6 100644
--- a/ConsoleApp/Maps/SquareMap.cs
+++ b/ConsoleApp/Maps/SquareMap.cs
@@ -1,7 +1,6 @@
 using System;
 using System.Collections.Generic;
-using HexCore;
-using ImTools;
+
 
 namespace ConsoleApp.Maps
 {
@@ -20,7 +19,6 @@ namespace ConsoleApp.Maps
         /// <param name="y"></param>
         public SquareMap(int x, int y)
         {
-            HexGraph = default;
             //convert to cm
             x *= 100;
             y *= 100;
@@ -63,8 +61,49 @@ namespace ConsoleApp.Maps
 
             return possibles;
         }
-        
-        public Graph HexGraph { get; }
+
+        public List<Cell> GetRange(Cell centerCell, int radius)
+        {
+            var inRange = new List<Cell>();
+            var cx = centerCell.X;
+            var cy = centerCell.Y;
+            var topLeft = GetTopCellInBoundingBox(cx, cy, radius);
+            var bottomRight = GetBottomCellInBoundingBox(cx, cy, radius);
+            for (var i = topLeft.X; i < bottomRight.X; i++)
+            {
+                for (var j = bottomRight.Y; j < topLeft.Y; j++)
+                {
+                    if (Math.Pow(i - cx, 2) + Math.Pow(j - cy, 2) < Math.Pow(radius,2))
+                    {
+                        inRange.Add(Map[i,j]);
+                    }
+                }
+            }
+            return inRange;
+        }
+
+        private Cell GetTopCellInBoundingBox(int cx, int cy, int radius)
+        {
+            int topX, topY;
+            if (cy + radius > Height) topY = Height;
+            else
+                topY = cy + radius;
+            if (cx - radius < 0) topX = 0;
+            else
+                topX = cx - radius;
+            return Map[topX, topY];
+        }
+        private Cell GetBottomCellInBoundingBox(int cx, int cy, int radius)
+        {
+            int bottomX, bottomY;
+            if (cy - radius > 0) bottomY = 0;
+            else
+                bottomY = cy - radius;
+            if (cx + radius < Width) bottomX = Width;
+            else
+                bottomX = cx + radius;
+            return Map[bottomX, bottomY];
+        }
 
         public Cell GetCell(int x, int y) => Map[x, y];
 
diff --git a/ConsoleApp/PathPlanners/IPathPlanner.cs b/ConsoleApp/PathPlanners/IPathPlanner.cs
index a48b27d..a9bfdf7 100644
--- a/ConsoleApp/PathPlanners/IPathPlanner.cs
+++ b/ConsoleApp/PathPlanners/IPathPlanner.cs
@@ -1,12 +1,13 @@
 using System.Collections.Generic;
 using ConsoleApp.Maps;
+using ConsoleApp.Vehicle;
 
 namespace ConsoleApp.PathPlanners
 {
     public interface IPathPlanner
     {
         Queue<ICell> GenerateOptimalSquarePath(ISquareMap map, IVehicle vehicle);
-        Queue<ICell> GenerateOptimalHexPath(HexMap hexMap, IVehicle vehicle);
+        Queue<ICell> GenerateOptimalHexPath(IHexMap hexMap, IVehicle vehicle);
     }
     
 }
\ No newline at end of file
diff --git a/ConsoleApp/PathPlanners/PathPlanner.cs b/ConsoleApp/PathPlanners/PathPlanner.cs
index 52f005d..a88d179 100644
--- a/ConsoleApp/PathPlanners/PathPlanner.cs
+++ b/ConsoleApp/PathPlanners/PathPlanner.cs
@@ -1,6 +1,8 @@
 using System;
 using System.Collections.Generic;
 using ConsoleApp.Maps;
+using ConsoleApp.Vehicle;
+using HexCore;
 
 namespace ConsoleApp.PathPlanners
 {
@@ -11,7 +13,7 @@ namespace ConsoleApp.PathPlanners
             var path = new Queue<ICell>();
             var myCell = map.StartingCell;
             var finished = false;
-            var width_cm = (double)(vehicle.DetectorWidth) * 100;
+            var width_cm = (double)(vehicle.DetectorRadius) * 100 * 2;
             var swathOffset = (int)Math.Floor((decimal) (width_cm) / 25) + 1;
             var currentHeading = GlobalDirection.North;
             while (!finished)
@@ -53,8 +55,11 @@ namespace ConsoleApp.PathPlanners
             return path;
         }
         
-        public Queue<ICell> GenerateOptimalHexPath(HexMap hexMap, IVehicle vehicle)
+        public Queue<ICell> GenerateOptimalHexPath(IHexMap hexMap, IVehicle vehicle)
         {
+            // var t = hexMap.Graph.GetMovementRange(
+            //     new Coordinate2D(0, 0, hexMap.OffsetType), 2, hexMap.DefaultMovement);
+            // Console.WriteLine(t);
             throw new NotImplementedException();
         }
     }
diff --git a/ConsoleApp/SimRunner.cs b/ConsoleApp/SimRunner.cs
index efd89da..6aad005 100644
--- a/ConsoleApp/SimRunner.cs
+++ b/ConsoleApp/SimRunner.cs
@@ -4,6 +4,7 @@ using System.Threading;
 using System.Threading.Tasks;
 using ConsoleApp.Maps;
 using ConsoleApp.PathPlanners;
+using ConsoleApp.Vehicle;
 using HexCore;
 
 namespace ConsoleApp
@@ -39,7 +40,7 @@ namespace ConsoleApp
         {
             var hexMap = _mapFactory.GetHexMap();
             _vehicle.CurrentHexCell = new Coordinate2D(0, 0, OffsetTypes.OddRowsRight);
-            //var optimalPath = _pathPlanner.GenerateOptimalHexPath(hexMap, _vehicle);
+            var optimalPath = _pathPlanner.GenerateOptimalHexPath(hexMap, _vehicle);
         }
         
 
diff --git a/ConsoleApp/Vehicle/DetectionHead.cs b/ConsoleApp/Vehicle/DetectionHead.cs
new file mode 100644
index 0000000..3217927
--- /dev/null
+++ b/ConsoleApp/Vehicle/DetectionHead.cs
@@ -0,0 +1,20 @@
+using System.Collections.Generic;
+using ConsoleApp.Maps;
+using HexCore;
+
+namespace ConsoleApp.Vehicle
+{
+    public class DetectionHead
+    {
+        public List<Coordinate2D> GetCoveredCells(
+            Graph graph,
+            Coordinate2D centerCoordinate,
+            int detectorRadius,
+            GlobalDirection direction) => graph.GetRange(centerCoordinate, detectorRadius);
+
+        public List<Cell> GetCoveredCells(
+            ISquareMap squareMap,
+            Cell centerCell,
+            int detectorRadius) => squareMap.GetRange(centerCell, detectorRadius);
+    }
+}
\ No newline at end of file
diff --git a/ConsoleApp/IVehicle.cs b/ConsoleApp/Vehicle/IVehicle.cs
similarity index 84%
rename from ConsoleApp/IVehicle.cs
rename to ConsoleApp/Vehicle/IVehicle.cs
index 4d47053..94fe591 100644
--- a/ConsoleApp/IVehicle.cs
+++ b/ConsoleApp/Vehicle/IVehicle.cs
@@ -1,13 +1,13 @@
 using ConsoleApp.Maps;
 
-namespace ConsoleApp
+namespace ConsoleApp.Vehicle
 {
     public interface IVehicle
     {
         int Length { get; }
         int Width { get; }
         int DetectorOffset { get;}
-        int DetectorWidth { get;}
+        int DetectorRadius { get;}
         HexCore.Coordinate2D CurrentHexCell { get; set; }
         Heading HexHeading { get; set; }
         Heading SquareHeading { get; set; }
diff --git a/ConsoleApp/Vehicle.cs b/ConsoleApp/Vehicle/Vehicle.cs
similarity index 72%
rename from ConsoleApp/Vehicle.cs
rename to ConsoleApp/Vehicle/Vehicle.cs
index 78b6503..3a07573 100644
--- a/ConsoleApp/Vehicle.cs
+++ b/ConsoleApp/Vehicle/Vehicle.cs
@@ -1,7 +1,6 @@
-using System;
 using ConsoleApp.Maps;
 
-namespace ConsoleApp
+namespace ConsoleApp.Vehicle
 {
     public class Vehicle : IVehicle
     {
@@ -9,25 +8,25 @@ namespace ConsoleApp
         public int Width { get; }
 
         public int DetectorOffset { get;}
-        public int DetectorWidth { 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; }
+        public DetectionHead DetectionHead { get; }
         
 
         
         public Vehicle(IJsonDeserializor jsonDeserializor)
         {
-            var config = jsonDeserializor.DeserializeObject<VehicleConfiguration>("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/VehicleConfiguration.json");
+            var config = jsonDeserializor.DeserializeObject<VehicleConfiguration>("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Vehicle/VehicleConfiguration.json");
             Length = config.Length;
             Width = config.Width;
-            DetectorWidth = config.DetectorWidth;
+            DetectorRadius = config.DetectorRadius;
             DetectorOffset = config.DetectorOffset;
             CurrentHexCell = default;
             CurrentSquareCell = default;
-            HexHeading = default;
-            SquareHeading = default;
+            DetectionHead = new DetectionHead();
         }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/VehicleConfiguration.cs b/ConsoleApp/Vehicle/VehicleConfiguration.cs
similarity index 70%
rename from ConsoleApp/VehicleConfiguration.cs
rename to ConsoleApp/Vehicle/VehicleConfiguration.cs
index 2b84226..42411a5 100644
--- a/ConsoleApp/VehicleConfiguration.cs
+++ b/ConsoleApp/Vehicle/VehicleConfiguration.cs
@@ -1,10 +1,10 @@
-namespace ConsoleApp
+namespace ConsoleApp.Vehicle
 {
     public class VehicleConfiguration
     {
         public int Length { get; set; }
         public int Width { get; set; }
-        public int DetectorWidth { get; set; }
+        public int DetectorRadius { get; set; }
         public int DetectorOffset { get; set; }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/VehicleConfiguration.json b/ConsoleApp/Vehicle/VehicleConfiguration.json
similarity index 100%
rename from ConsoleApp/VehicleConfiguration.json
rename to ConsoleApp/Vehicle/VehicleConfiguration.json

From 4edcef4664b02ab61a8b01cb784ec462176a6306 Mon Sep 17 00:00:00 2001
From: Brady Bodily <bradybod@gmail.com>
Date: Tue, 15 Dec 2020 18:19:07 -0700
Subject: [PATCH 13/13] Created Mine Map and ReactivePlanner

---
 .../.idea/contentModel.xml                    |  11 +-
 .../.idea.RobotIntelFinal/.idea/workspace.xml | 100 ++++++++++++------
 ConsoleApp/ConsoleApp.csproj                  |   2 +-
 ConsoleApp/CoreModule.cs                      |   4 +-
 ConsoleApp/Maps/Cell.cs                       |  10 +-
 ConsoleApp/Maps/ICell.cs                      |   1 +
 ConsoleApp/Maps/IMapFactory.cs                |   3 +-
 ConsoleApp/Maps/IMineMap.cs                   |   7 ++
 ConsoleApp/Maps/MapExtensions.cs              |  20 ++++
 ConsoleApp/Maps/MapFactory.cs                 |   8 +-
 ConsoleApp/Maps/MineMap.cs                    |  33 ++++++
 ConsoleApp/PathPlanners/IPathPlanner.cs       |   5 +-
 .../PathPlanners/IReactivePathPlanner.cs      |  10 ++
 ConsoleApp/PathPlanners/PathPlanner.cs        |  77 ++++++++++++--
 .../PathPlanners/ReactivePathPlanner.cs       |  20 ++++
 ConsoleApp/Program.cs                         |  11 +-
 ConsoleApp/{Vehicle => Sim}/DetectionHead.cs  |   8 +-
 ConsoleApp/{Vehicle => Sim}/IVehicle.cs       |   2 +-
 ConsoleApp/{Vehicle => Sim}/Vehicle.cs        |   7 +-
 .../{Vehicle => Sim}/VehicleConfiguration.cs  |   2 +-
 ConsoleApp/Sim/VehicleConfiguration.json      |   6 ++
 ConsoleApp/SimRunner.cs                       |  10 +-
 ConsoleApp/UserConsole.cs                     |  30 ++++--
 ConsoleApp/Vehicle/VehicleConfiguration.json  |   6 --
 24 files changed, 309 insertions(+), 84 deletions(-)
 create mode 100644 ConsoleApp/Maps/IMineMap.cs
 create mode 100644 ConsoleApp/Maps/MapExtensions.cs
 create mode 100644 ConsoleApp/Maps/MineMap.cs
 create mode 100644 ConsoleApp/PathPlanners/IReactivePathPlanner.cs
 create mode 100644 ConsoleApp/PathPlanners/ReactivePathPlanner.cs
 rename ConsoleApp/{Vehicle => Sim}/DetectionHead.cs (71%)
 rename ConsoleApp/{Vehicle => Sim}/IVehicle.cs (92%)
 rename ConsoleApp/{Vehicle => Sim}/Vehicle.cs (80%)
 rename ConsoleApp/{Vehicle => Sim}/VehicleConfiguration.cs (88%)
 create mode 100644 ConsoleApp/Sim/VehicleConfiguration.json
 delete mode 100644 ConsoleApp/Vehicle/VehicleConfiguration.json

diff --git a/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml b/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
index 2c926b7..83db942 100644
--- a/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
+++ b/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
@@ -20,8 +20,11 @@
           <e p="ICell.cs" t="Include" />
           <e p="IHexMap.cs" t="Include" />
           <e p="IMapFactory.cs" t="Include" />
+          <e p="IMineMap.cs" t="Include" />
           <e p="ISquareMap.cs" t="Include" />
+          <e p="MapExtensions.cs" t="Include" />
           <e p="MapFactory.cs" t="Include" />
+          <e p="MineMap.cs" t="Include" />
           <e p="SquareMap.cs" t="Include" />
         </e>
         <e p="obj" t="ExcludeRecursive">
@@ -33,18 +36,20 @@
         </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="Program.cs" t="Include" />
-        <e p="SimRunner.cs" t="Include" />
-        <e p="UserConsole.cs" t="Include" />
-        <e p="Vehicle" t="Include">
+        <e p="Sim" t="Include">
           <e p="DetectionHead.cs" t="Include" />
           <e p="IVehicle.cs" t="Include" />
           <e p="Vehicle.cs" t="Include" />
           <e p="VehicleConfiguration.cs" t="Include" />
           <e p="VehicleConfiguration.json" t="Include" />
         </e>
+        <e p="SimRunner.cs" t="Include" />
+        <e p="UserConsole.cs" t="Include" />
       </e>
       <e p="packages" t="ExcludeRecursive" />
       <e p="RobotIntelFinal.sln" t="IncludeFlat" />
diff --git a/.idea/.idea.RobotIntelFinal/.idea/workspace.xml b/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
index 0a6ccca..0d747c3 100644
--- a/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
+++ b/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
@@ -18,23 +18,29 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="dafcaeb7-80aa-43a3-a480-786fafb78c0b" name="Default Changelist" comment="">
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/Vehicle/DetectionHead.cs" afterDir="false" />
+      <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 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/IVehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Vehicle/IVehicle.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/ISquareMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/ISquareMap.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/IMapFactory.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/IMapFactory.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/SquareMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.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/PathPlanners/PathPlanner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.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/SimRunner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Vehicle/Vehicle.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/VehicleConfiguration.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Vehicle/VehicleConfiguration.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/VehicleConfiguration.json" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Vehicle/VehicleConfiguration.json" 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" />
@@ -55,47 +61,68 @@
     <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/f7/268fdeac/Graph.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="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="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="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="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" />
   </component>
   <component name="IdeDocumentHistory">
     <changedPaths>
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/Heading.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/Direction.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/CoreModule.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/IPathPlanner.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/PathPlanner.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/GlobalDirection.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/HexCoordinates.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/Cell.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/ICell.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMapFactory.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/IVehicle.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMap.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Program.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/IPathPlanner.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/IHexMap.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.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/Maps/SquareMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/MineMap.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/PathPlanners/ReactivePathPlanner.cs" />
     </changedPaths>
   </component>
   <component name="ProjectId" id="1lIZ7IfsUjzqV2Jb1obOFvGFAfp" />
@@ -173,7 +200,7 @@
       <workItem from="1607982179018" duration="634000" />
       <workItem from="1607983288378" duration="86000" />
       <workItem from="1607983862958" duration="7777000" />
-      <workItem from="1607993290571" duration="28469000" />
+      <workItem from="1607993290571" duration="36241000" />
     </task>
     <servers />
   </component>
@@ -205,26 +232,39 @@
           <line>34</line>
           <properties documentPath="$PROJECT_DIR$/ConsoleApp/PathPlanner.cs" initialLine="34" containingFunctionPresentation="method 'GenerateOptimalSquarePath'">
             <startOffsets>
-              <option value="1512" />
+              <option value="1527" />
             </startOffsets>
             <endOffsets>
-              <option value="1528" />
+              <option value="1543" />
             </endOffsets>
           </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>61</line>
-          <properties documentPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" initialLine="62" containingFunctionPresentation="method 'GenerateOptimalHexPath'">
+          <line>87</line>
+          <properties documentPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" initialLine="87" containingFunctionPresentation="method 'GenerateOptimalHexPath'">
             <startOffsets>
-              <option value="2509" />
+              <option value="3651" />
             </startOffsets>
             <endOffsets>
-              <option value="2530" />
+              <option value="3667" />
             </endOffsets>
           </properties>
-          <option name="timeStamp" value="34" />
+          <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>
diff --git a/ConsoleApp/ConsoleApp.csproj b/ConsoleApp/ConsoleApp.csproj
index 02c0777..6d8ae3b 100644
--- a/ConsoleApp/ConsoleApp.csproj
+++ b/ConsoleApp/ConsoleApp.csproj
@@ -19,7 +19,7 @@
     </ItemGroup>
 
     <ItemGroup>
-      <None Update="Vehicle\VehicleConfiguration.json">
+      <None Update="Sim\VehicleConfiguration.json">
         <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
       </None>
     </ItemGroup>
diff --git a/ConsoleApp/CoreModule.cs b/ConsoleApp/CoreModule.cs
index 53e0122..e0e2585 100644
--- a/ConsoleApp/CoreModule.cs
+++ b/ConsoleApp/CoreModule.cs
@@ -1,7 +1,6 @@
-using System.Text.Json;
-using System.Threading;
 using ConsoleApp.Maps;
 using ConsoleApp.PathPlanners;
+using ConsoleApp.Sim;
 using DryIoc;
 
 namespace ConsoleApp
@@ -15,6 +14,7 @@ namespace ConsoleApp
             container.Register<IVehicle, Vehicle>(Reuse.Singleton);
             container.Register<IJsonDeserializor, JsonDeserializor>(Reuse.Singleton);
             container.Register<IPathPlanner, PathPlanner>(Reuse.Singleton);
+            container.Register<IReactivePathPlanner, ReactivePathPlanner>(Reuse.Singleton);
         }
         
 
diff --git a/ConsoleApp/Maps/Cell.cs b/ConsoleApp/Maps/Cell.cs
index a5b5f14..ef9bfd4 100644
--- a/ConsoleApp/Maps/Cell.cs
+++ b/ConsoleApp/Maps/Cell.cs
@@ -2,16 +2,22 @@ using System;
 
 namespace ConsoleApp.Maps
 {
+    public enum Coverage
+    {
+        Uncoverd,
+        Covered
+    }
     public struct Cell : ICell
     {
         public int X { get; }
         public int Y { get; }
-
-
+        public Coverage Coverage { get; set; }
+        
         public Cell(int x, int y)
         {
             X = x;
             Y = y;
+            Coverage = Coverage.Uncoverd;
         }
 
         
diff --git a/ConsoleApp/Maps/ICell.cs b/ConsoleApp/Maps/ICell.cs
index 4faabb8..db8db85 100644
--- a/ConsoleApp/Maps/ICell.cs
+++ b/ConsoleApp/Maps/ICell.cs
@@ -4,5 +4,6 @@ namespace ConsoleApp.Maps
     {
         int X { get; }
         int Y { get; }
+        Coverage Coverage { get; set; }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/IMapFactory.cs b/ConsoleApp/Maps/IMapFactory.cs
index ec72df4..59cd0d3 100644
--- a/ConsoleApp/Maps/IMapFactory.cs
+++ b/ConsoleApp/Maps/IMapFactory.cs
@@ -8,8 +8,9 @@ namespace ConsoleApp.Maps
         int Height { get; }
         int Width { get; }
         int CellWidth { get; }
-        void GenerateMaps(int x, int y);
+        void GenerateMaps(int x, int y, double minePercentage);
         IHexMap GetHexMap();
         ISquareMap GetSquareMap();
+        IMineMap GetMineMap();
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/IMineMap.cs b/ConsoleApp/Maps/IMineMap.cs
new file mode 100644
index 0000000..b21ed22
--- /dev/null
+++ b/ConsoleApp/Maps/IMineMap.cs
@@ -0,0 +1,7 @@
+namespace ConsoleApp.Maps
+{
+    public interface IMineMap
+    {
+        bool[,] Map { get; }
+    }
+}
\ No newline at end of file
diff --git a/ConsoleApp/Maps/MapExtensions.cs b/ConsoleApp/Maps/MapExtensions.cs
new file mode 100644
index 0000000..8a046b4
--- /dev/null
+++ b/ConsoleApp/Maps/MapExtensions.cs
@@ -0,0 +1,20 @@
+namespace ConsoleApp.Maps
+{
+    public static class MapExtensions
+    {
+        public static void Fill2DArray<T>(this T[,] arr, T value)
+        {
+            int numRows = arr.GetLength(0);
+            int numCols = arr.GetLength(1);
+
+            for (int i = 0; i < numRows; ++i)
+            {
+                for (int j = 0; j < numCols; ++j)
+                {
+                    arr[i, j] = value;
+                }
+            }
+        }
+        
+    }
+}
\ No newline at end of file
diff --git a/ConsoleApp/Maps/MapFactory.cs b/ConsoleApp/Maps/MapFactory.cs
index 1866971..a7418dc 100644
--- a/ConsoleApp/Maps/MapFactory.cs
+++ b/ConsoleApp/Maps/MapFactory.cs
@@ -1,6 +1,6 @@
 using System;
 using System.Collections.Generic;
-using ConsoleApp.Vehicle;
+using ConsoleApp.Sim;
 
 namespace ConsoleApp.Maps
 {
@@ -17,16 +17,20 @@ namespace ConsoleApp.Maps
         private ISquareMap _squareMap;
 
         private IHexMap _hexMap;
+        
+        private IMineMap _mineMap;
 
-        public void GenerateMaps(int x, int y)
+        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);
         }
         public IHexMap GetHexMap() => _hexMap ?? throw new NullReferenceException("hex map not initialized");
         public ISquareMap GetSquareMap() => _squareMap ?? throw new NullReferenceException("square map not initialized");
+        public IMineMap GetMineMap() => _mineMap ?? throw new NullReferenceException("mine map not initialized");
 
         public MapFactory(IVehicle vehicle)
         {
diff --git a/ConsoleApp/Maps/MineMap.cs b/ConsoleApp/Maps/MineMap.cs
new file mode 100644
index 0000000..bd2b8b1
--- /dev/null
+++ b/ConsoleApp/Maps/MineMap.cs
@@ -0,0 +1,33 @@
+using System;
+using System.Collections.Generic;
+
+namespace ConsoleApp.Maps
+{
+    public class MineMap : IMineMap
+    {
+        private int _mineCount;
+        private int _x;
+        private int _y;
+        public bool[,] Map { get; }
+        public MineMap(int x, int y, double minePercentage)
+        {
+            _x = x;
+            _y = y;
+            _mineCount = x*y*((int)minePercentage/100);
+            Map = new bool[x, y];
+            Map.Fill2DArray(false);
+            PlaceMines();
+        }
+
+        private void PlaceMines()
+        {
+            var rand = new Random();
+            for (int i = 0; i < _mineCount; i++)
+            {
+                var x = rand.Next(_x);
+                var y = rand.Next(_y);
+                Map[x, y] = true;
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/ConsoleApp/PathPlanners/IPathPlanner.cs b/ConsoleApp/PathPlanners/IPathPlanner.cs
index a9bfdf7..7c8a4a0 100644
--- a/ConsoleApp/PathPlanners/IPathPlanner.cs
+++ b/ConsoleApp/PathPlanners/IPathPlanner.cs
@@ -1,13 +1,14 @@
 using System.Collections.Generic;
 using ConsoleApp.Maps;
-using ConsoleApp.Vehicle;
+using ConsoleApp.Sim;
+using HexCore;
 
 namespace ConsoleApp.PathPlanners
 {
     public interface IPathPlanner
     {
         Queue<ICell> GenerateOptimalSquarePath(ISquareMap map, IVehicle vehicle);
-        Queue<ICell> GenerateOptimalHexPath(IHexMap hexMap, IVehicle vehicle);
+        Queue<Coordinate2D> GenerateOptimalHexPath(IHexMap hexMap, IVehicle vehicle);
     }
     
 }
\ No newline at end of file
diff --git a/ConsoleApp/PathPlanners/IReactivePathPlanner.cs b/ConsoleApp/PathPlanners/IReactivePathPlanner.cs
new file mode 100644
index 0000000..68375a1
--- /dev/null
+++ b/ConsoleApp/PathPlanners/IReactivePathPlanner.cs
@@ -0,0 +1,10 @@
+using System.Collections.Generic;
+using HexCore;
+
+namespace ConsoleApp.PathPlanners
+{
+    public interface IReactivePathPlanner
+    {
+        Queue<Coordinate2D> ReactiveHexPath { get; }
+    }
+}
\ No newline at end of file
diff --git a/ConsoleApp/PathPlanners/PathPlanner.cs b/ConsoleApp/PathPlanners/PathPlanner.cs
index a88d179..5f50a66 100644
--- a/ConsoleApp/PathPlanners/PathPlanner.cs
+++ b/ConsoleApp/PathPlanners/PathPlanner.cs
@@ -1,7 +1,8 @@
 using System;
 using System.Collections.Generic;
+using System.Linq;
 using ConsoleApp.Maps;
-using ConsoleApp.Vehicle;
+using ConsoleApp.Sim;
 using HexCore;
 
 namespace ConsoleApp.PathPlanners
@@ -55,12 +56,76 @@ namespace ConsoleApp.PathPlanners
             return path;
         }
         
-        public Queue<ICell> GenerateOptimalHexPath(IHexMap hexMap, IVehicle vehicle)
+        public Queue<Coordinate2D> GenerateOptimalHexPath(IHexMap hexMap, IVehicle vehicle)
         {
-            // var t = hexMap.Graph.GetMovementRange(
-            //     new Coordinate2D(0, 0, hexMap.OffsetType), 2, hexMap.DefaultMovement);
-            // Console.WriteLine(t);
-            throw new NotImplementedException();
+            var currentPostion = vehicle.CurrentHexCell;
+            var currentHeading = GlobalDirection.East;
+            var finished = false;
+            var path = new List<Coordinate2D>();
+            while (!finished)
+            {
+                if (currentHeading == GlobalDirection.East)
+                {
+                    path.AddRange(hexMap.Graph.GetShortestPath(
+                        currentPostion,
+                        new Coordinate2D(hexMap.Width, currentPostion.Y, hexMap.OffsetType),
+                        hexMap.DefaultMovement));
+                    currentPostion = new Coordinate2D(hexMap.Width, currentPostion.Y, hexMap.OffsetType);
+                }
+                
+                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)
+                {
+                    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))
+                {
+                    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);
+                }
+                path.AddRange(hexMap.Graph.GetShortestPath(
+                    currentPostion,
+                    tmpPosition,
+                    hexMap.DefaultMovement));
+                currentPostion = tmpPosition;
+                if (currentHeading == GlobalDirection.East)
+                    currentHeading = GlobalDirection.West;
+                else
+                    currentHeading = GlobalDirection.East;
+
+
+            }
+            return new Queue<Coordinate2D>(path);
         }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/PathPlanners/ReactivePathPlanner.cs b/ConsoleApp/PathPlanners/ReactivePathPlanner.cs
new file mode 100644
index 0000000..a77e9b2
--- /dev/null
+++ b/ConsoleApp/PathPlanners/ReactivePathPlanner.cs
@@ -0,0 +1,20 @@
+using System.Collections.Generic;
+using HexCore;
+
+namespace ConsoleApp.PathPlanners
+{
+    public class ReactivePathPlanner : IReactivePathPlanner
+    {
+        public Queue<Coordinate2D> ReactiveHexPath { get; }
+
+        public ReactivePathPlanner()
+        {
+            ReactiveHexPath = new Queue<Coordinate2D>();
+        }
+
+        public void GenerateReactiveHexPath(Graph graph, ref List<Coordinate3D> optimalPath, Coordinate2D minePosition)
+        {
+            
+        }
+    }
+}
\ No newline at end of file
diff --git a/ConsoleApp/Program.cs b/ConsoleApp/Program.cs
index ca6d342..4cc3a51 100644
--- a/ConsoleApp/Program.cs
+++ b/ConsoleApp/Program.cs
@@ -19,25 +19,26 @@ namespace ConsoleApp
         private static void Initialization()
         {
             _userConsole.PrintStartMenu();
-            var input = _userConsole.GetUserInput();
+            var input = UserConsole.GetUserInput();
             if (input == "1")
             {
                 var (x,y) = _userConsole.GetMapDimensions();
-                RunSimulation(x, y);
+                var minePercentage = UserConsole.GetMinePercentage();
+                RunSimulation(x, y, minePercentage);
             }
             else
             {
-                _userConsole.PrintInvalidInput();
+                UserConsole.PrintInvalidInput();
                 Initialization();
             }
         }
 
-        private static void RunSimulation(int x,int y)
+        private static void RunSimulation(int x, int y, double minePercentage)
         {
             var mapFactory = _bootstrapper.Resolve<IMapFactory>();
             var simRunner = _bootstrapper.Resolve<ISimRunner>();
             
-            mapFactory.GenerateMaps(x, y);
+            mapFactory.GenerateMaps(x, y, minePercentage);
             simRunner.Run();
         }
 
diff --git a/ConsoleApp/Vehicle/DetectionHead.cs b/ConsoleApp/Sim/DetectionHead.cs
similarity index 71%
rename from ConsoleApp/Vehicle/DetectionHead.cs
rename to ConsoleApp/Sim/DetectionHead.cs
index 3217927..a510d3c 100644
--- a/ConsoleApp/Vehicle/DetectionHead.cs
+++ b/ConsoleApp/Sim/DetectionHead.cs
@@ -2,17 +2,17 @@ using System.Collections.Generic;
 using ConsoleApp.Maps;
 using HexCore;
 
-namespace ConsoleApp.Vehicle
+namespace ConsoleApp.Sim
 {
-    public class DetectionHead
+    public static class DetectionHead
     {
-        public List<Coordinate2D> GetCoveredCells(
+        public static List<Coordinate2D> GetCoveredCells(
             Graph graph,
             Coordinate2D centerCoordinate,
             int detectorRadius,
             GlobalDirection direction) => graph.GetRange(centerCoordinate, detectorRadius);
 
-        public List<Cell> GetCoveredCells(
+        public static List<Cell> GetCoveredCells(
             ISquareMap squareMap,
             Cell centerCell,
             int detectorRadius) => squareMap.GetRange(centerCell, detectorRadius);
diff --git a/ConsoleApp/Vehicle/IVehicle.cs b/ConsoleApp/Sim/IVehicle.cs
similarity index 92%
rename from ConsoleApp/Vehicle/IVehicle.cs
rename to ConsoleApp/Sim/IVehicle.cs
index 94fe591..3db6ae0 100644
--- a/ConsoleApp/Vehicle/IVehicle.cs
+++ b/ConsoleApp/Sim/IVehicle.cs
@@ -1,6 +1,6 @@
 using ConsoleApp.Maps;
 
-namespace ConsoleApp.Vehicle
+namespace ConsoleApp.Sim
 {
     public interface IVehicle
     {
diff --git a/ConsoleApp/Vehicle/Vehicle.cs b/ConsoleApp/Sim/Vehicle.cs
similarity index 80%
rename from ConsoleApp/Vehicle/Vehicle.cs
rename to ConsoleApp/Sim/Vehicle.cs
index 3a07573..e4cc62d 100644
--- a/ConsoleApp/Vehicle/Vehicle.cs
+++ b/ConsoleApp/Sim/Vehicle.cs
@@ -1,6 +1,6 @@
 using ConsoleApp.Maps;
 
-namespace ConsoleApp.Vehicle
+namespace ConsoleApp.Sim
 {
     public class Vehicle : IVehicle
     {
@@ -13,20 +13,19 @@ namespace ConsoleApp.Vehicle
         public Heading HexHeading { get; set; }
         public Heading SquareHeading { get; set; }
         public ICell CurrentSquareCell { get; set; }
-        public DetectionHead DetectionHead { get; }
+        
         
 
         
         public Vehicle(IJsonDeserializor jsonDeserializor)
         {
-            var config = jsonDeserializor.DeserializeObject<VehicleConfiguration>("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Vehicle/VehicleConfiguration.json");
+            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;
-            DetectionHead = new DetectionHead();
         }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Vehicle/VehicleConfiguration.cs b/ConsoleApp/Sim/VehicleConfiguration.cs
similarity index 88%
rename from ConsoleApp/Vehicle/VehicleConfiguration.cs
rename to ConsoleApp/Sim/VehicleConfiguration.cs
index 42411a5..74c2b50 100644
--- a/ConsoleApp/Vehicle/VehicleConfiguration.cs
+++ b/ConsoleApp/Sim/VehicleConfiguration.cs
@@ -1,4 +1,4 @@
-namespace ConsoleApp.Vehicle
+namespace ConsoleApp.Sim
 {
     public class VehicleConfiguration
     {
diff --git a/ConsoleApp/Sim/VehicleConfiguration.json b/ConsoleApp/Sim/VehicleConfiguration.json
new file mode 100644
index 0000000..adb580b
--- /dev/null
+++ b/ConsoleApp/Sim/VehicleConfiguration.json
@@ -0,0 +1,6 @@
+{
+  "Length": 3,
+  "Width": 2,
+  "DetectorRadius": 3,
+  "DetectorOffset": 2
+}
\ No newline at end of file
diff --git a/ConsoleApp/SimRunner.cs b/ConsoleApp/SimRunner.cs
index 6aad005..be04c2d 100644
--- a/ConsoleApp/SimRunner.cs
+++ b/ConsoleApp/SimRunner.cs
@@ -4,7 +4,7 @@ using System.Threading;
 using System.Threading.Tasks;
 using ConsoleApp.Maps;
 using ConsoleApp.PathPlanners;
-using ConsoleApp.Vehicle;
+using ConsoleApp.Sim;
 using HexCore;
 
 namespace ConsoleApp
@@ -16,20 +16,23 @@ namespace ConsoleApp
 
         private int _cellWidth;
         private IPathPlanner _pathPlanner;
+        private IMineMap _mineMap;
+        private IReactivePathPlanner _reactivePathPlanner;
 
 
-        public SimRunner(IMapFactory mapFactory, IVehicle vehicle, IPathPlanner pathPlanner)
+        public SimRunner(IMapFactory mapFactory, IVehicle vehicle, IPathPlanner pathPlanner, IReactivePathPlanner reactivePathPlanner)
         {
            
             _cellWidth = mapFactory.CellWidth;
             _mapFactory = mapFactory;
             _vehicle = vehicle;
             _pathPlanner = pathPlanner;
+            _reactivePathPlanner = reactivePathPlanner;
         }
 
         public void Run()
         {
-
+            _mineMap = _mapFactory.GetMineMap();
             SquareSimulation();
             HexSimulation();
             // while(!squareTask.IsCompleted && !hexTask.IsCompleted){Thread.Sleep(500);}
@@ -41,6 +44,7 @@ namespace ConsoleApp
             var hexMap = _mapFactory.GetHexMap();
             _vehicle.CurrentHexCell = new Coordinate2D(0, 0, OffsetTypes.OddRowsRight);
             var optimalPath = _pathPlanner.GenerateOptimalHexPath(hexMap, _vehicle);
+            var reactivePath = _reactivePathPlanner.ReactiveHexPath;
         }
         
 
diff --git a/ConsoleApp/UserConsole.cs b/ConsoleApp/UserConsole.cs
index b76ee46..f59b44e 100644
--- a/ConsoleApp/UserConsole.cs
+++ b/ConsoleApp/UserConsole.cs
@@ -18,14 +18,11 @@ namespace ConsoleApp
                               $"\t 2: Load custom map. \n");
         }
 
-        public string GetUserInput() => Console.ReadLine();
+        public static string GetUserInput() => Console.ReadLine();
 
-        public void PrintInvalidInput()
-        {
-            Console.WriteLine($"Invalid input try again \n");
-        }
+        public static void PrintInvalidInput() => Console.WriteLine($"Invalid input try again \n");
 
-        public (int width, int height) GetMapDimensions()
+            public (int width, int height) GetMapDimensions()
         {
             Console.WriteLine($"Enter map height: ");
             var x = GetUserInput();
@@ -38,12 +35,23 @@ namespace ConsoleApp
 
             Console.WriteLine($"Enter map height: ");
             var y = GetUserInput();
-            if(!int.TryParse(y, out var height))
-            {
-                PrintInvalidInput();
-                GetMapDimensions();
-            }
+            if (int.TryParse(y, out var height)) return (width, height);
+            PrintInvalidInput();
+            GetMapDimensions();
             return (width, height);
         }
+
+        public static double GetMinePercentage()
+        {
+            
+            Console.WriteLine($"Enter desired percentage of mines: ");
+            var x = GetUserInput();
+
+            if (double.TryParse(x, out var percent)) return percent;
+            PrintInvalidInput();
+            GetMinePercentage();
+
+            return percent;
+        }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Vehicle/VehicleConfiguration.json b/ConsoleApp/Vehicle/VehicleConfiguration.json
deleted file mode 100644
index aaa1b9f..0000000
--- a/ConsoleApp/Vehicle/VehicleConfiguration.json
+++ /dev/null
@@ -1,6 +0,0 @@
-{
-  "Length": 3,
-  "Width": 2,
-  "DetectorWidth": 3,
-  "DetectorOffset": 1
-}
\ No newline at end of file