From e335ce3c682e8a49f79c1f81d40381493531385d Mon Sep 17 00:00:00 2001
From: Brady Bodily <bradybod@gmail.com>
Date: Wed, 16 Dec 2020 17:19:25 -0700
Subject: [PATCH] I think its done

---
 .DS_Store                                     |  Bin 6148 -> 6148 bytes
 .../.idea/contentModel.xml                    |   10 +
 .../.idea.RobotIntelFinal/.idea/workspace.xml |  131 +-
 ConsoleApp/.DS_Store                          |  Bin 0 -> 8196 bytes
 ConsoleApp/HexPlot.py                         |   76 +-
 ConsoleApp/ISimulationResults.cs              |    8 +
 ConsoleApp/Maps/AstarSquareSearch.cs          |   60 +
 ConsoleApp/Maps/Cell.cs                       |    9 +-
 ConsoleApp/Maps/ICell.cs                      |    1 +
 ConsoleApp/Maps/ISquareMap.cs                 |    5 +-
 ConsoleApp/Maps/MapExtensions.cs              |    7 +
 ConsoleApp/Maps/SquareMap.cs                  |   54 +-
 ConsoleApp/Output/Data.txt                    |   13 +-
 ConsoleApp/Output/HexCoverage.png             |  Bin 0 -> 19323 bytes
 ConsoleApp/Output/HexCoveredCells.txt         | 2263 +++++++++++++++++
 ConsoleApp/Output/HexDetectedMines.txt        |   23 +
 ConsoleApp/Output/HexPath.txt                 | 1025 ++------
 ConsoleApp/Output/HexTest.png                 |  Bin 34618 -> 28023 bytes
 ConsoleApp/Output/Mines.txt                   |   23 +
 ConsoleApp/Output/SquareCoverage.png          |  Bin 0 -> 22892 bytes
 ConsoleApp/Output/SquareCoveredCells.txt      | 1996 +++++++++++++++
 ConsoleApp/Output/SquareDetectedMines.txt     |   20 +
 ConsoleApp/Output/SquarePath.txt              |  553 ++++
 ConsoleApp/Output/SquareTest.png              |  Bin 0 -> 29227 bytes
 .../PathPlanners/IReactivePathPlanner.cs      |    5 +
 ConsoleApp/PathPlanners/PathPlanner.cs        |   62 +-
 .../PathPlanners/ReactivePathPlanner.cs       |   34 +-
 ConsoleApp/Program.cs                         |   21 +
 ConsoleApp/Sim/DetectionHead.cs               |    2 +-
 ConsoleApp/Sim/IVehicle.cs                    |    2 +-
 ConsoleApp/Sim/Vehicle.cs                     |    2 +-
 ConsoleApp/Sim/VehicleConfiguration.json      |    2 +-
 ConsoleApp/SimRunner.cs                       |  121 +-
 ConsoleApp/SimulationResults.cs               |   78 +-
 34 files changed, 5679 insertions(+), 927 deletions(-)
 create mode 100644 ConsoleApp/.DS_Store
 create mode 100644 ConsoleApp/Maps/AstarSquareSearch.cs
 create mode 100644 ConsoleApp/Output/HexCoverage.png
 create mode 100644 ConsoleApp/Output/HexCoveredCells.txt
 create mode 100644 ConsoleApp/Output/Mines.txt
 create mode 100644 ConsoleApp/Output/SquareCoverage.png
 create mode 100644 ConsoleApp/Output/SquareCoveredCells.txt
 create mode 100644 ConsoleApp/Output/SquareDetectedMines.txt
 create mode 100644 ConsoleApp/Output/SquarePath.txt
 create mode 100644 ConsoleApp/Output/SquareTest.png

diff --git a/.DS_Store b/.DS_Store
index 6ef9ce98dd62c1c5e55dd82bffbdd4131de05f09..261ea1501f10a2c2ba24342f1b0c4d53a73ba34d 100644
GIT binary patch
delta 731
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zricCkN)Cb^{R2eAlOTBY;MG6CgI6z}q}17u6!hd<X6Cm$^M1dXeQ#ggSD&w8{GIl3
z6yt+qvDx{uEo!DMOaPF{u8?I8g9YFh^v$;0j0(P(O`Ex%s(!<f(b!mgT#}Mfaw2(O
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z&9NR+_k&JMTkt>E9AVp<aGA#hzgKBEtiHCr?ONX8N9<PrE~70v>sUcTZyGhm8_MOM
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z;TkZ)2B8eN<oQ3B=PeN(T^_=x{*Q&&t_Dgvsd)6Tb0pIsi43&JTj2aHgnr|Z(2LzO
J@5iNs)E`bpx3>TQ

delta 306
zcmZoMXfc@J&&aefU^nw*0}+<V&McxlnaO1ZNjdpR3=E8$CkL@AX^0AoiHk}|N=nBI
z2qz^bXQvnCm*%B7=jY@XIpvh5Mr0=E=LKh0rA}VT8Xy~;UX+>QpO#jfS`ryAz+aqP
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diff --git a/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml b/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
index 8bae461..6ccea19 100644
--- a/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
+++ b/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
@@ -15,6 +15,7 @@
         <e p="IUserConsole.cs" t="Include" />
         <e p="JsonDeserializor.cs" t="Include" />
         <e p="Maps" t="Include">
+          <e p="AstarSquareSearch.cs" t="Include" />
           <e p="Cell.cs" t="Include" />
           <e p="GlobalDirection.cs" t="Include" />
           <e p="Heading.cs" t="Include" />
@@ -38,10 +39,19 @@
         </e>
         <e p="Output" t="Include">
           <e p="Data.txt" t="Include" />
+          <e p="HexCoverage.png" t="Include" />
+          <e p="HexCoveredCells.txt" t="Include" />
           <e p="HexDetectedMines.txt" t="Include" />
           <e p="HexPath.txt" t="Include" />
           <e p="HexTest.png" t="Include" />
+          <e p="Mines.txt" t="Include" />
+          <e p="SquareCoverage.png" t="Include" />
+          <e p="SquareCoveredCells.txt" t="Include" />
+          <e p="SquareDetectedMines.txt" t="Include" />
+          <e p="SquarePath.txt" t="Include" />
+          <e p="SquareTest.png" t="Include" />
         </e>
+        <e p="Output.zip" t="Include" />
         <e p="PathPlanners" t="Include">
           <e p="IPathPlanner.cs" t="Include" />
           <e p="IReactivePathPlanner.cs" t="Include" />
diff --git a/.idea/.idea.RobotIntelFinal/.idea/workspace.xml b/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
index 9ff8581..2fc297b 100644
--- a/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
+++ b/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
@@ -18,21 +18,30 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="dafcaeb7-80aa-43a3-a480-786fafb78c0b" name="Default Changelist" comment="">
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/ISimulationResults.cs" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/SimulationResults.cs" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/ConsoleApp/Maps/AstarSquareSearch.cs" afterDir="false" />
       <change beforePath="$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$/ConsoleApp/Maps/IMineMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/IMineMap.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/MineMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/MineMap.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Output/DetectedMines.txt" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/DetectedMines.txt" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Output/Mines.txt" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/Mines.txt" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Output/SavedList.txt" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/SavedList.txt" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Output/test.png" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/test.png" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/HexPlot.py" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/HexPlot.py" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/ISimulationResults.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/ISimulationResults.cs" afterDir="false" />
+      <change beforePath="$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$/ConsoleApp/Maps/ISquareMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/ISquareMap.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/MapExtensions.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/MapExtensions.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Output/Data.txt" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/Data.txt" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Output/HexDetectedMines.txt" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/HexDetectedMines.txt" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Output/HexPath.txt" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/HexPath.txt" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Output/HexTest.png" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/HexTest.png" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/PathPlanners/IReactivePathPlanner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/IReactivePathPlanner.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/PathPlanners/ReactivePathPlanner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/ReactivePathPlanner.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/Program.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Program.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Sim/DetectionHead.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/DetectionHead.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Sim/IVehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/IVehicle.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Sim/Vehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/Vehicle.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.json" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.json" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/plot.py" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/HexPlot.py" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/SimulationResults.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/SimulationResults.cs" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -50,38 +59,10 @@
     <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
   </component>
   <component name="HighlightingSettingsPerFile">
-    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
-    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/EE5CA5D4-EDEB-48AE-9C0D-FE354330FB77/0b/0953c23b/GraphFactory.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/EE5CA5D4-EDEB-48AE-9C0D-FE354330FB77/f7/268fdeac/Graph.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/EB067793-5C3F-4219-AEF1-3AB117C20649/133/Thread.CoreCLR.cs" root0="SKIP_HIGHLIGHTING" />
-    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/7AFCB195-1BDF-4087-9F2D-5BFCFC407B2B/46/ThrowHelper.cs" root0="SKIP_HIGHLIGHTING" />
-    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
-    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/EB067793-5C3F-4219-AEF1-3AB117C20649/39B/EqualityComparer.CoreCLR.cs" root0="SKIP_HIGHLIGHTING" />
-    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/EB067793-5C3F-4219-AEF1-3AB117C20649/11/Array.cs" root0="SKIP_HIGHLIGHTING" />
-    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/EB067793-5C3F-4219-AEF1-3AB117C20649/3A4/List.cs" root0="SKIP_HIGHLIGHTING" />
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-    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
-    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/7AFCB195-1BDF-4087-9F2D-5BFCFC407B2B/30/Where.cs" root0="SKIP_HIGHLIGHTING" />
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-    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
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-    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/EB067793-5C3F-4219-AEF1-3AB117C20649/389/Comparer.cs" root0="SKIP_HIGHLIGHTING" />
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-    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
-    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
-    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/EE5CA5D4-EDEB-48AE-9C0D-FE354330FB77/3d/c367b191/Coordinate3D.cs" root0="SKIP_HIGHLIGHTING" />
-    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
-    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
-    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/EE5CA5D4-EDEB-48AE-9C0D-FE354330FB77/14/12025305/MovementTypes.cs" root0="SKIP_HIGHLIGHTING" />
-    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
-    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/EE5CA5D4-EDEB-48AE-9C0D-FE354330FB77/0b/0953c23b/GraphFactory.cs" root0="SKIP_HIGHLIGHTING" />
-    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
-    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
-    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/EE5CA5D4-EDEB-48AE-9C0D-FE354330FB77/84/4eb9c798/GraphUtils.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
@@ -90,16 +71,29 @@
     <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/EB067793-5C3F-4219-AEF1-3AB117C20649/39B/EqualityComparer.CoreCLR.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/EE5CA5D4-EDEB-48AE-9C0D-FE354330FB77/da/c3cabb46/AStarSearch.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$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$/resharper-host/SourcesCache/EB067793-5C3F-4219-AEF1-3AB117C20649/3A4/List.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/7AFCB195-1BDF-4087-9F2D-5BFCFC407B2B/30/Where.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/EB067793-5C3F-4219-AEF1-3AB117C20649/CD/ThrowHelper.cs" root0="SKIP_HIGHLIGHTING" />
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     <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/8B2EA1A3-95EB-49F7-AF97-CA55CE776F10/4/Container.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/EB067793-5C3F-4219-AEF1-3AB117C20649/389/Comparer.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/EB067793-5C3F-4219-AEF1-3AB117C20649/B5/Random.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/EE5CA5D4-EDEB-48AE-9C0D-FE354330FB77/3d/c367b191/Coordinate3D.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/1C5C65AB-6C84-402C-B333-F3A5A7121EFE/D/Queue.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
-    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/EE5CA5D4-EDEB-48AE-9C0D-FE354330FB77/14/12025305/MovementTypes.cs" root0="SKIP_HIGHLIGHTING" />
   </component>
   <component name="IdeDocumentHistory">
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@@ -112,39 +106,41 @@
       <option value="$PROJECT_DIR$/ConsoleApp/IVehicle.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMap.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/ISquareMap.cs" />
       <option value="$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$/ConsoleApp/Maps/Cell.cs" />
-      <option value="$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$/ConsoleApp/Maps/CellExtensions.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/MapExtensions.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Sim/IVehicle.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/IHexMap.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/IReactivePathPlanner.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMapFactory.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Sim/Vehicle.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.json" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Sim/DetectionHead.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/ReactivePathPlanner.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/CoreModule.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/plot.py" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/MineMap.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMineMap.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/ISimulationResults.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/ICell.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/MapExtensions.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/IReactivePathPlanner.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/ReactivePathPlanner.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Program.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/AstarSquareSearch.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/Cell.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/ISquareMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/ISimulationResults.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/SimulationResults.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Sim/DetectionHead.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.json" />
+      <option value="$PROJECT_DIR$/ConsoleApp/HexPlot.py" />
+      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" />
     </changedPaths>
   </component>
   <component name="ProjectId" id="1lIZ7IfsUjzqV2Jb1obOFvGFAfp" />
@@ -156,7 +152,7 @@
     <option name="showLibraryContents" value="true" />
   </component>
   <component name="PropertiesComponent">
-    <property name="DebuggerViewTab_PTCS_FirstProportionKey" value="0.3496007" />
+    <property name="DebuggerViewTab_PTCS_FirstProportionKey" value="0.22377622" />
     <property name="DebuggerViewTab_PTCS_LastProportionKey" value="0.0" />
     <property name="RunOnceActivity.OpenProjectViewOnStart" value="true" />
     <property name="WebServerToolWindowFactoryState" value="false" />
@@ -222,7 +218,9 @@
       <workItem from="1607982179018" duration="634000" />
       <workItem from="1607983288378" duration="86000" />
       <workItem from="1607983862958" duration="7777000" />
-      <workItem from="1607993290571" duration="72449000" />
+      <workItem from="1607993290571" duration="88336000" />
+      <workItem from="1608146906461" duration="175000" />
+      <workItem from="1608147111263" duration="13487000" />
     </task>
     <servers />
   </component>
@@ -247,33 +245,10 @@
     <option name="CLEAR_INITIAL_COMMIT_MESSAGE" value="true" />
   </component>
   <component name="XDebuggerManager">
-    <breakpoint-manager>
-      <breakpoints>
-        <line-breakpoint enabled="true" type="DotNet Breakpoints">
-          <url>file://$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs</url>
-          <line>34</line>
-          <properties documentPath="$PROJECT_DIR$/ConsoleApp/PathPlanner.cs" initialLine="34" containingFunctionPresentation="method 'GenerateOptimalSquarePath'">
-            <startOffsets>
-              <option value="1527" />
-            </startOffsets>
-            <endOffsets>
-              <option value="1543" />
-            </endOffsets>
-          </properties>
-          <option name="timeStamp" value="24" />
-        </line-breakpoint>
-      </breakpoints>
-    </breakpoint-manager>
     <pin-to-top-manager>
       <pinned-members>
         <PinnedItemInfo parentTag="Frame#ConsoleApp.PathPlanners.PathPlanner.GenerateOptimalHexPath" memberName="path" />
       </pinned-members>
     </pin-to-top-manager>
-    <watches-manager>
-      <configuration name="DotNetProject">
-        <watch expression="new System.Collections.Generic.QueueDebugView&lt;HexCore.Coordinate2D&gt;(optimalPath).Items[0]" />
-        <watch expression="Math.Abs(nextOptimal.X - _vehicle.CurrentHexCell.X) &gt; 1 || Math.Abs(nextOptimal.Y - _vehicle.CurrentHexCell.Y) &gt; 1" language="C#" />
-      </configuration>
-    </watches-manager>
   </component>
 </project>
\ No newline at end of file
diff --git a/ConsoleApp/.DS_Store b/ConsoleApp/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..7ecef305432883c9712ad84d34a15ff38dd16b98
GIT binary patch
literal 8196
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z`pxV%-0oed5tKk@kKMWK%{Mdq?c7}^AtLTvojxZzAfk12kvkh0YMNY^UTJH7M!*a_
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u=oL;X1cR32kXnvI&i^pPc>-0zq+S+IVg~KM{}AB55!?G;*|*`oGVmK<pqSVI

literal 0
HcmV?d00001

diff --git a/ConsoleApp/HexPlot.py b/ConsoleApp/HexPlot.py
index a10fbe8..9acf4dd 100644
--- a/ConsoleApp/HexPlot.py
+++ b/ConsoleApp/HexPlot.py
@@ -10,12 +10,51 @@ if __name__ == "__main__":
     ym = []
     xf = []
     yf = []
+    sxc = []
+    syc = []
+    sxm = []
+    sym = []
+    sxf = []
+    syf = []
+    
+    sccx = []
+    sccy = []
+    hccx = []
+    hccy = []
+
+    
+    
+    with open("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/SquareCoveredCells.txt") as c:
+        for line in c:
+            x, y = line.split()
+            sccx.append(int(x))
+            sccy.append(int(y))
+    
+    with open("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/SquareDetectedMines.txt") as c:
+        for line in c:
+            x, y = line.split()
+            sxf.append(int(x))
+            syf.append(int(y))
+           
+                
+    with open("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/HexCoveredCells.txt") as c:
+        for line in c:
+            x, y = line.split()
+            hccx.append(int(x))
+            hccy.append(int(y))
+    
     with open("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/HexPath.txt") as c:
         for line in c:
             x, y = line.split()
             xc.append(int(x))
             yc.append(int(y))
-
+            
+    with open("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/SquarePath.txt") as c:
+        for line in c:
+            x, y = line.split()
+            sxc.append(int(x))
+            syc.append(int(y))
+                
     with open("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/Mines.txt") as m:
         for line in m:
             x, y = line.split()
@@ -27,13 +66,44 @@ if __name__ == "__main__":
             x, y = line.split()
             xf.append(int(x))
             yf.append(int(y))
-    fig = plt.figure()
+            
+    fig = plt.figure(1)
     plt.plot(xc, yc)
     plt.plot(xc, yc, 'o', label='vehicle',  color='blue')
     plt.plot(xm, ym, 'o', label='all mines', color='red')
     plt.plot(xf, yf, 'o', label='detected mines', color='orange')
     plt.title('Hex Simulation')
     plt.legend(loc='lower left', fontsize='xx-small')
-
     matplotlib.pyplot.savefig('/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/HexTest.png')
+    
+    plt.plot()
+    plt.close(fig)
+    
+    fig = plt.figure(2)
+    plt.plot(sxc, syc)
+    plt.plot(sxc, syc, 'o', label='vehicle',  color='blue')
+    plt.plot(sxm, sym, 'o', label='all mines', color='red')
+    plt.plot(sxf, syf, 'o', label='detected mines', color='orange')
+    plt.title('Square Simulation')
+    plt.legend(loc='lower left', fontsize='xx-small')
+    matplotlib.pyplot.savefig('/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/SquareTest.png')
+    plt.plot()
+    plt.close(fig)
+    
+    fig = plt.figure(3)
+    plt.plot(hccx, hccy, 'o', label='covered cells', color='red')
+    plt.plot(xf, xy, 'o', label='detected mines',  color='blue')
+    plt.title('Hex Coverage')
+    plt.legend(loc='lower left', fontsize='xx-small')
+    matplotlib.pyplot.savefig('/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/HexCoverage.png')
+    plt.plot()
+    plt.close(fig)
+    
+    fig = plt.figure(4)
+    plt.plot(sccx, sccy, 'o', label='covered cells', color='red')
+    plt.plot(sxf, syf, 'o', label='detected mines',  color='blue')
+    plt.title('Square Coverage')
+    plt.legend(loc='lower left', fontsize='xx-small')
+    matplotlib.pyplot.savefig('/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/SquareCoverage.png')
+    plt.plot()
     plt.close(fig)
\ No newline at end of file
diff --git a/ConsoleApp/ISimulationResults.cs b/ConsoleApp/ISimulationResults.cs
index e8f930a..23cd46c 100644
--- a/ConsoleApp/ISimulationResults.cs
+++ b/ConsoleApp/ISimulationResults.cs
@@ -15,5 +15,13 @@ namespace ConsoleApp
         List<Cell> Mines { get; set; }
         int HexClearedCells { get; set; }
         int HexUnClearedCells { get; set; }
+        List<ICell> SquarePath { get; set; }
+        List<ICell> SquareMappedBombs { get; set; }
+        int SquareCellsUncleared { get; set; }
+        int SquareCellsCleared { get; set; }
+        int SquareBombsFound { get; set; }
+        int SquareTotalMoves { get; set; }
+        List<ICell> SquareCoveredCells { get; set; }
+        List<Coordinate2D> HexCoveredCells { get; set; }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/AstarSquareSearch.cs b/ConsoleApp/Maps/AstarSquareSearch.cs
new file mode 100644
index 0000000..929a7dd
--- /dev/null
+++ b/ConsoleApp/Maps/AstarSquareSearch.cs
@@ -0,0 +1,60 @@
+using System;
+using System.Collections.Generic;
+using HexCore;
+
+namespace ConsoleApp.Maps
+{
+    public class AstarSquareSearch
+    {
+        private static double Heuristic(ICell a, ICell b)
+        {
+            return Math.Abs(a.X - b.X) + Math.Abs(a.Y - b.Y);
+        }
+
+        public static List<ICell> FindShortestPath(ISquareMap graph, ICell start, ICell goal)
+        {
+            var costSoFar = new Dictionary<ICell, int>();
+            var cameFrom = new Dictionary<ICell, ICell>();
+            var frontier = new PriorityQueue<ICell>();
+
+            frontier.Enqueue(start, 0);
+            cameFrom[start] = start;
+            costSoFar[start] = 0;
+
+            while (frontier.Count > 0)
+            {
+                var current = frontier.Dequeue();
+
+                if (current.Equals(goal)) break;
+
+                foreach (var next in graph.GetPassableNeighbors(current))
+                {
+                    var newCost = costSoFar[current] + (int)graph.GetCell(next.X, next.Y).Coverage;
+                    if (costSoFar.ContainsKey(next) && newCost >= costSoFar[next]) continue;
+                    costSoFar[next] = newCost;
+                    var priority = newCost + Heuristic(next, goal);
+                    frontier.Enqueue(next, priority);
+                    cameFrom[next] = current;
+                }
+            }
+
+            var path = new List<ICell>();
+            var pathWasNotFound = !cameFrom.ContainsKey(goal);
+
+            // Returning an empty list if the path wasn't found
+            if (pathWasNotFound) return path;
+
+            // Reconstructing path
+            var curr = goal;
+            while (!curr.Equals(start))
+            {
+                path.Add(curr);
+                curr = cameFrom[curr];
+            }
+
+            // Reverse it to start at actual start point
+            path.Reverse();
+            return path;
+        }
+    }
+}
\ No newline at end of file
diff --git a/ConsoleApp/Maps/Cell.cs b/ConsoleApp/Maps/Cell.cs
index ef9bfd4..0acb659 100644
--- a/ConsoleApp/Maps/Cell.cs
+++ b/ConsoleApp/Maps/Cell.cs
@@ -4,20 +4,23 @@ namespace ConsoleApp.Maps
 {
     public enum Coverage
     {
-        Uncoverd,
+        //Order here matters these are cast to ints for the heuristic algorithm
+        Uncovered,
         Covered
     }
-    public struct Cell : ICell
+    public class Cell : ICell
     {
         public int X { get; }
         public int Y { get; }
         public Coverage Coverage { get; set; }
+        public bool Blocked { get; set; }
         
         public Cell(int x, int y)
         {
             X = x;
             Y = y;
-            Coverage = Coverage.Uncoverd;
+            Coverage = Coverage.Uncovered;
+            Blocked = false;
         }
 
         
diff --git a/ConsoleApp/Maps/ICell.cs b/ConsoleApp/Maps/ICell.cs
index db8db85..b06956f 100644
--- a/ConsoleApp/Maps/ICell.cs
+++ b/ConsoleApp/Maps/ICell.cs
@@ -5,5 +5,6 @@ namespace ConsoleApp.Maps
         int X { get; }
         int Y { get; }
         Coverage Coverage { get; set; }
+        bool Blocked { get; set; }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/ISquareMap.cs b/ConsoleApp/Maps/ISquareMap.cs
index 3d5e915..8b0a809 100644
--- a/ConsoleApp/Maps/ISquareMap.cs
+++ b/ConsoleApp/Maps/ISquareMap.cs
@@ -12,6 +12,9 @@ namespace ConsoleApp.Maps
         Cell GetCell(int x, int y);
         int Height { get; }
         int Width { get; }
-        List<Cell> GetRange(Cell centerCell, int radius);
+        List<Cell> GetRange(ICell centerCell, int radius);
+        List<Cell> GetNeighbors(ICell cell);
+        List<ICell> GetPassableNeighbors(ICell cell);
+        List<ICell> GetShortestPath(ICell start, ICell goal);
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/MapExtensions.cs b/ConsoleApp/Maps/MapExtensions.cs
index 4e3e0ab..b67b475 100644
--- a/ConsoleApp/Maps/MapExtensions.cs
+++ b/ConsoleApp/Maps/MapExtensions.cs
@@ -1,5 +1,12 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using Example;
+
 namespace ConsoleApp.Maps
 {
+
     public static class MapExtensions
     {
         public static void Fill2DArray<T>(this T[,] arr, T value)
diff --git a/ConsoleApp/Maps/SquareMap.cs b/ConsoleApp/Maps/SquareMap.cs
index 2c92e55..f43cf23 100644
--- a/ConsoleApp/Maps/SquareMap.cs
+++ b/ConsoleApp/Maps/SquareMap.cs
@@ -1,5 +1,9 @@
 using System;
 using System.Collections.Generic;
+using System.Linq;
+using System.Reflection.Metadata.Ecma335;
+using System.Threading;
+using HexCore;
 
 
 namespace ConsoleApp.Maps
@@ -29,8 +33,7 @@ namespace ConsoleApp.Maps
             //Initialize Map
             Map = new Cell[x, y];
 
-            //set last cell;
-            StartingCell = Map[0, 0];
+            
             for (int i = 0; i < x; i++)
             {
                 for (int j = 0; j < y; j++)
@@ -38,6 +41,9 @@ namespace ConsoleApp.Maps
                     Map[i,j] = new Cell(i, j);
                 }
             }
+            
+            //set Starting cell;
+            StartingCell = GetCell(0,0);
         }
 
 
@@ -56,8 +62,13 @@ namespace ConsoleApp.Maps
 
             return possibles;
         }
+        
+        public List<ICell> GetShortestPath(ICell start, ICell goal)
+        {
+            return AstarSquareSearch.FindShortestPath(this, start, goal);
+        }
 
-        public List<Cell> GetRange(Cell centerCell, int radius)
+        public List<Cell> GetRange(ICell centerCell, int radius)
         {
             var inRange = new List<Cell>();
             var cx = centerCell.X;
@@ -77,6 +88,32 @@ namespace ConsoleApp.Maps
             return inRange;
         }
 
+        public List<ICell> GetPassableNeighbors(ICell cell) => 
+            GetNeighbors(cell).Where(neighbor => !neighbor.Blocked).Cast<ICell>().ToList();
+        
+        
+        private static int ComputeHScore(ICell src, Cell dest)
+        {
+            return Math.Abs(dest.X - src.X) + Math.Abs(dest.Y - src.Y);
+        }
+        
+
+        public List<Cell> GetNeighbors(ICell cell)
+        {
+            var rlist = new List<Cell>();
+            var rowOperations = new int[] { -1, 0, 0, 1};
+            var colOperations = new int[] {0, -1, 1, 0};
+            for (var i = 0; i < 4; i++)
+            {
+                var curCell = GetCell(cell.X + rowOperations[i], cell.Y + colOperations[i]);
+                if (curCell != default)
+                {
+                    rlist.Add(curCell);
+                }
+            }
+            return rlist;
+        }
+
         private Cell GetTopCellInBoundingBox(int cx, int cy, int radius)
         {
             int topX, topY;
@@ -91,16 +128,21 @@ namespace ConsoleApp.Maps
         private Cell GetBottomCellInBoundingBox(int cx, int cy, int radius)
         {
             int bottomX, bottomY;
-            if (cy - radius > 0) bottomY = 0;
+            if (cy - radius < 0) bottomY = 0;
             else
                 bottomY = cy - radius;
-            if (cx + radius < Width) bottomX = Width;
+            if (cx + radius > Width) bottomX = Width;
             else
                 bottomX = cx + radius;
             return Map[bottomX, bottomY];
         }
 
-        public Cell GetCell(int x, int y) => Map[x, y];
+        public Cell GetCell(int x, int y)
+        {
+            if (x > Width || y > Height || x < 0 || y < 0)
+                return default;
+            return Map[x, y];
+        }
 
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Output/Data.txt b/ConsoleApp/Output/Data.txt
index a3ad04a..c536ecc 100644
--- a/ConsoleApp/Output/Data.txt
+++ b/ConsoleApp/Output/Data.txt
@@ -1,7 +1,14 @@
 General:
 	 Total Mines: 23
 Hex: 
-	 Total Moves: 927
+	 Total Moves: 420
 	 Bombs Found: 23
-	 Cleared Cell Count: 2295
-	 Uncleared Cell Count: 9
+	 Cleared Cell Count: 2263
+	 Uncleared Cell Count: 41
+	 Percentage Cleared: 98.22048611111111
+Square: 
+	 Total Moves: 553
+	 Bombs Found: 20
+	 Cleared Cell Count: 1996
+	 Uncleared Cell Count: 308
+	 Percentage Cleared: 86.63194444444444
diff --git a/ConsoleApp/Output/HexCoverage.png b/ConsoleApp/Output/HexCoverage.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb35575b68467af4aff380b09369de99e1c4be9d
GIT binary patch
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diff --git a/ConsoleApp/Output/HexCoveredCells.txt b/ConsoleApp/Output/HexCoveredCells.txt
new file mode 100644
index 0000000..2aa75d2
--- /dev/null
+++ b/ConsoleApp/Output/HexCoveredCells.txt
@@ -0,0 +1,2263 @@
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diff --git a/ConsoleApp/Output/HexDetectedMines.txt b/ConsoleApp/Output/HexDetectedMines.txt
index e69de29..7730921 100644
--- a/ConsoleApp/Output/HexDetectedMines.txt
+++ b/ConsoleApp/Output/HexDetectedMines.txt
@@ -0,0 +1,23 @@
+39 7
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diff --git a/ConsoleApp/Output/HexPath.txt b/ConsoleApp/Output/HexPath.txt
index 032288e..107d209 100644
--- a/ConsoleApp/Output/HexPath.txt
+++ b/ConsoleApp/Output/HexPath.txt
@@ -49,374 +49,134 @@
 47 1
 47 2
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diff --git a/ConsoleApp/Output/HexTest.png b/ConsoleApp/Output/HexTest.png
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diff --git a/ConsoleApp/Output/Mines.txt b/ConsoleApp/Output/Mines.txt
new file mode 100644
index 0000000..2cea69e
--- /dev/null
+++ b/ConsoleApp/Output/Mines.txt
@@ -0,0 +1,23 @@
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diff --git a/ConsoleApp/Output/SquareCoverage.png b/ConsoleApp/Output/SquareCoverage.png
new file mode 100644
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diff --git a/ConsoleApp/Output/SquareCoveredCells.txt b/ConsoleApp/Output/SquareCoveredCells.txt
new file mode 100644
index 0000000..9011f5d
--- /dev/null
+++ b/ConsoleApp/Output/SquareCoveredCells.txt
@@ -0,0 +1,1996 @@
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literal 0
HcmV?d00001

diff --git a/ConsoleApp/PathPlanners/IReactivePathPlanner.cs b/ConsoleApp/PathPlanners/IReactivePathPlanner.cs
index 404d781..9a0845e 100644
--- a/ConsoleApp/PathPlanners/IReactivePathPlanner.cs
+++ b/ConsoleApp/PathPlanners/IReactivePathPlanner.cs
@@ -8,5 +8,10 @@ namespace ConsoleApp.PathPlanners
     {
         Queue<Coordinate2D> ReactiveHexPath { get; }
         void GenerateReactiveHexPath(IHexMap hexMap, Queue<Coordinate2D> optimalPath, Coordinate2D vehicleCurrentHexCell);
+        
+        Queue<ICell> ReactiveSquarePath { get; }
+
+        void GenerateReactiveSquarePath(ISquareMap squareMap, Queue<ICell> optimalPath,
+            ICell vehicleCurrentSquareCell);
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/PathPlanners/PathPlanner.cs b/ConsoleApp/PathPlanners/PathPlanner.cs
index d195b27..508d8b8 100644
--- a/ConsoleApp/PathPlanners/PathPlanner.cs
+++ b/ConsoleApp/PathPlanners/PathPlanner.cs
@@ -11,49 +11,49 @@ namespace ConsoleApp.PathPlanners
     {
         public Queue<ICell> GenerateOptimalSquarePath(ISquareMap map, IVehicle vehicle)
         {
-            var path = new Queue<ICell>();
-            var myCell = map.StartingCell;
+            var currentPostion = vehicle.CurrentSquareCell;
+            var currentHeading = GlobalDirection.East;
             var finished = false;
-            var width_cm = (double)(vehicle.DetectorRadius) * 100 * 2;
-            var swathOffset = (int)Math.Floor((decimal) (width_cm) / 25) + 1;
-            var currentHeading = GlobalDirection.North;
+            var path = new List<ICell>();
             while (!finished)
             {
-                var availableMoves = map.PossibleMoves(myCell);
-                if (availableMoves.Contains(GlobalDirection.North) && currentHeading == GlobalDirection.North &&
-                    myCell.Y != map.Height)
+                //Heading East
+                if (currentHeading == GlobalDirection.East)
                 {
-                    path.Enqueue(map.GetCell(myCell.X, myCell.Y + 1));
-                    myCell = map.GetCell(myCell.X, myCell.Y + 1);
+                    path.AddRange(
+                        map.GetShortestPath(currentPostion, map.GetCell(map.Width - 1, currentPostion.Y)));
+                    currentPostion = new Cell(map.Width - 1, currentPostion.Y);
                 }
-                else if (availableMoves.Contains(GlobalDirection.South) && currentHeading == GlobalDirection.South && myCell.Y != 0)
+                //Heading West
+                else if (currentHeading == GlobalDirection.West)
                 {
-                    path.Enqueue(map.GetCell(myCell.X, myCell.Y - 1));
-                    myCell = map.GetCell(myCell.X, myCell.Y - 1);
+                    path.AddRange(
+                        map.GetShortestPath(currentPostion, map.GetCell(0, currentPostion.Y)));
+                    currentPostion = new Cell(0, currentPostion.Y);
                 }
-                else
+                //Check for finish
+                if (currentPostion.Y + (vehicle.DetectorRadius * 2) >= map.Height)
                 {
-                    if (myCell.X + swathOffset >= map.Width)
-                    {
-                        finished = true;
-                    }
-                    else
-                    {
-                        for (int i = myCell.X; i < myCell.X + swathOffset; i++)
-                        {
-                            path.Enqueue(map.GetCell(i, myCell.Y));
-                        }
-                        myCell = map.GetCell(myCell.X+swathOffset, myCell.Y);
-                        if (currentHeading == GlobalDirection.North)
-                            currentHeading = GlobalDirection.South;
-                        else if (currentHeading == GlobalDirection.South)
-                            currentHeading = GlobalDirection.North;
-                    }
+                    finished = true;
+                    continue;
                 }
+                
+                //Move up X Axis
+                path.AddRange(
+                    map.GetShortestPath(
+                        currentPostion, 
+                        map.GetCell(currentPostion.X, currentPostion.Y + vehicle.DetectorRadius * 2 - 1)));
 
+                currentPostion = new Cell(currentPostion.X, currentPostion.Y + (vehicle.DetectorRadius * 2 - 1));
+                if (currentHeading == GlobalDirection.East)
+                    currentHeading = GlobalDirection.West;
+                else
+                    currentHeading = GlobalDirection.East;
+                
             }
 
-            return path;
+
+            return new Queue<ICell>(path);
         }
 
         public Queue<Coordinate2D> GenerateOptimalHexPath(IHexMap hexMap, IVehicle vehicle)
diff --git a/ConsoleApp/PathPlanners/ReactivePathPlanner.cs b/ConsoleApp/PathPlanners/ReactivePathPlanner.cs
index 258bd4d..9c42596 100644
--- a/ConsoleApp/PathPlanners/ReactivePathPlanner.cs
+++ b/ConsoleApp/PathPlanners/ReactivePathPlanner.cs
@@ -7,12 +7,17 @@ namespace ConsoleApp.PathPlanners
     public class ReactivePathPlanner : IReactivePathPlanner
     {
         private Queue<Coordinate2D> _reactiveHexPath;
+        private Queue<ICell> _reactiveSquarePath;
         public Queue<Coordinate2D> ReactiveHexPath => _reactiveHexPath;
+        public Queue<ICell> ReactiveSquarePath => _reactiveSquarePath;
+
         
 
         public ReactivePathPlanner()
         {
             _reactiveHexPath = new Queue<Coordinate2D>();
+            _reactiveSquarePath = new Queue<ICell>();
+
         }
         public void GenerateReactiveHexPath(IHexMap hexMap, Queue<Coordinate2D> optimalPath,
             Coordinate2D vehicleCurrentHexCell)
@@ -39,6 +44,33 @@ namespace ConsoleApp.PathPlanners
                 _reactiveHexPath.Enqueue(node);
             }
         }
-       
+
+
+        public void GenerateReactiveSquarePath(ISquareMap squareMap, Queue<ICell> optimalPath,
+            ICell vehicleCurrentSquareCell)
+        {
+            //Clean out old path
+            _reactiveSquarePath.Clear();
+            
+            //If the optimal path is empty well we are done, otherwise pop 1
+            if (!optimalPath.TryDequeue(out ICell convergentPoint))
+                return;
+
+            //Dequeue until the cell is not blocked
+            while (squareMap.GetCell(convergentPoint.X, convergentPoint.Y).Blocked)
+            {
+                //if optimal path is empty were done and we can not clear around this position, otherwise
+                //lest pop another.
+                if (!optimalPath.TryDequeue(out convergentPoint))
+                    return;
+            }
+
+            var map = (SquareMap)squareMap;
+            var reactivePath = map.GetShortestPath(vehicleCurrentSquareCell, convergentPoint);
+            foreach (var node in reactivePath)
+            {
+                _reactiveSquarePath.Enqueue(node);
+            }
+        }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Program.cs b/ConsoleApp/Program.cs
index d90d0e7..044e423 100644
--- a/ConsoleApp/Program.cs
+++ b/ConsoleApp/Program.cs
@@ -19,6 +19,7 @@ namespace ConsoleApp
             _userConsole = new UserConsole();
             Initialization();
             simResults.WriteResults();
+            GenerateImages();
             Console.WriteLine("Program Completed");
         }
 
@@ -49,6 +50,26 @@ namespace ConsoleApp
             mapFactory.GenerateMaps(x, y, minePercentage);
             simRunner.Run();
         }
+        
+        private static void GenerateImages()
+        {
+            var file = Path.Combine("./",Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location), @"HexPlot.py");
+            ProcessStartInfo startInfo = new ProcessStartInfo()
+            {
+                FileName = "python3",
+                Arguments = file,
+                UseShellExecute = true
+            };
+            Process proc = new Process()
+            {
+                StartInfo = startInfo,
+            };
+            proc.Start();
+            while (!proc.HasExited)
+            {
+                Thread.Sleep(500);
+            }
+        }
 
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Sim/DetectionHead.cs b/ConsoleApp/Sim/DetectionHead.cs
index f9d4c12..14b6390 100644
--- a/ConsoleApp/Sim/DetectionHead.cs
+++ b/ConsoleApp/Sim/DetectionHead.cs
@@ -24,6 +24,6 @@ namespace ConsoleApp.Sim
         public static List<Cell> GetCoveredCells(
             ISquareMap squareMap,
             Cell centerCell,
-            int detectorRadius) => squareMap.GetRange(centerCell, detectorRadius);
+            int detectorRadius) => squareMap.GetRange(centerCell, detectorRadius * 2 - detectorRadius%2);
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Sim/IVehicle.cs b/ConsoleApp/Sim/IVehicle.cs
index 95c1a01..aca35bb 100644
--- a/ConsoleApp/Sim/IVehicle.cs
+++ b/ConsoleApp/Sim/IVehicle.cs
@@ -10,6 +10,6 @@ namespace ConsoleApp.Sim
         int TurnRadius { get; }
         int DetectorRadius { get;}
         Coordinate2D CurrentHexCell { get; set; }
-        ICell CurrentSquareCell { get; set; }
+        Cell CurrentSquareCell { get; set; }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Sim/Vehicle.cs b/ConsoleApp/Sim/Vehicle.cs
index e1424a2..f294bfd 100644
--- a/ConsoleApp/Sim/Vehicle.cs
+++ b/ConsoleApp/Sim/Vehicle.cs
@@ -11,7 +11,7 @@ namespace ConsoleApp.Sim
         public int TurnRadius { get; }
         public int DetectorRadius { get;}
         public HexCore.Coordinate2D CurrentHexCell { get; set; }
-        public ICell CurrentSquareCell { get; set; }
+        public Cell CurrentSquareCell { get; set; }
         
         
 
diff --git a/ConsoleApp/Sim/VehicleConfiguration.json b/ConsoleApp/Sim/VehicleConfiguration.json
index 8db1cfd..9e1820f 100644
--- a/ConsoleApp/Sim/VehicleConfiguration.json
+++ b/ConsoleApp/Sim/VehicleConfiguration.json
@@ -1,5 +1,5 @@
 {
   "Length": 1,
   "Width": 1,
-  "DetectorRadius": 1
+  "DetectorRadius": 2
 }
diff --git a/ConsoleApp/SimRunner.cs b/ConsoleApp/SimRunner.cs
index 66a089d..0f4165b 100644
--- a/ConsoleApp/SimRunner.cs
+++ b/ConsoleApp/SimRunner.cs
@@ -1,16 +1,10 @@
 using System;
 using System.Collections.Generic;
-using System.IO;
 using System.Linq;
-using System.Net;
-using System.Threading;
-using System.Threading.Tasks;
 using ConsoleApp.Maps;
 using ConsoleApp.PathPlanners;
 using ConsoleApp.Sim;
 using HexCore;
-using ImTools;
-using Microsoft.VisualBasic;
 
 namespace ConsoleApp
 {
@@ -23,8 +17,9 @@ namespace ConsoleApp
         private IMineMap _mineMap;
         private IReactivePathPlanner _reactivePathPlanner;
         private HashSet<Coordinate2D> hexBombsFound = new HashSet<Coordinate2D>();
-        private List<Coordinate2D> testingPath = new List<Coordinate2D>();
         private ISimulationResults _simulationResults;
+        private HashSet<ICell> squareBombsFound = new HashSet<ICell>();
+        
 
 
         public SimRunner(IMapFactory mapFactory, IVehicle vehicle, IPathPlanner pathPlanner, IReactivePathPlanner reactivePathPlanner, ISimulationResults simulationResults)
@@ -47,6 +42,8 @@ namespace ConsoleApp
 
         }
 
+        #region HexSimulation
+
         private void HexSimulation()
         {
             var hexMap = _mapFactory.GetHexMap();
@@ -80,7 +77,7 @@ namespace ConsoleApp
                     if (!optimalPath.TryDequeue(out var nextOptimal))
                     {
                         finished = true;
-                        break;
+                        continue;
                     }
 
                     if (hexMap.Graph.IsCellBlocked(nextOptimal))
@@ -99,6 +96,13 @@ namespace ConsoleApp
             _simulationResults.HexUnClearedCells = uncleared;
             _simulationResults.HexTotalMoves = totalMoves;
             _simulationResults.HexBombsFound = hexBombsFound.Count;
+            _simulationResults.HexMappedBombs = hexBombsFound.ToList();
+            
+            foreach (var cell in hexMap.Graph.GetAllCells())
+            {
+                if(cell.TerrainType.Id == hexMap.ClearedTerrain.Id)
+                    _simulationResults.HexCoveredCells.Add(cell.Coordinate3.To2D(hexMap.OffsetType));
+            }
         }
 
         private (int, int) CoveredCells()
@@ -137,14 +141,113 @@ namespace ConsoleApp
             hexMap.Graph.BlockCells(cellsToBlock);
             
         }
+        #endregion
 
-
+        #region SquareSimulation
         private void SquareSimulation()
         {
             var squareMap = _mapFactory.GetSquareMap();
             _vehicle.CurrentSquareCell = squareMap.StartingCell;
             var optimalPath = _pathPlanner.GenerateOptimalSquarePath(squareMap, _vehicle);
+            var finished = false;
+            while (!finished)
+            {
+                _simulationResults.SquareTotalMoves++;
+                _simulationResults.SquarePath.Add(_vehicle.CurrentSquareCell);
+                var detector = squareMap.GetRange(_vehicle.CurrentSquareCell, _vehicle.DetectorRadius);
+                var detection = CheckForMines(detector);
+                //Mark cells as covered.
+                foreach (var cell in detector)
+                {
+                    cell.Coverage = Coverage.Covered;
+                }
+                if (detection)
+                    _reactivePathPlanner.GenerateReactiveSquarePath(squareMap, optimalPath, _vehicle.CurrentSquareCell);
+                if (_reactivePathPlanner.ReactiveSquarePath.TryDequeue(out var next))
+                {
+                    _vehicle.CurrentSquareCell = (Cell) next;
+                }
+                else
+                {
+                    if (!optimalPath.TryDequeue(out var current))
+                    {
+                        finished = true;
+                        continue;
+                    }
+
+                    if (current.Blocked)
+                    {
+                        _reactivePathPlanner.GenerateReactiveSquarePath(squareMap, optimalPath, current);
+                    }
+                    else
+                        _vehicle.CurrentSquareCell = (Cell) current;
+                }
+            }
+
+            //Debugging information
+            var (cleared, uncleared) = CoveredSquareCells();
+            _simulationResults.SquareCellsCleared = cleared;
+            _simulationResults.SquareCellsUncleared = uncleared;
+            _simulationResults.SquareBombsFound = squareBombsFound.Count;
+            _simulationResults.SquareMappedBombs = squareBombsFound.ToList();
+
+            foreach (var cell in squareMap.Map)
+            {
+                if (cell.Coverage == Coverage.Covered)
+                {
+                    _simulationResults.SquareCoveredCells.Add(cell);
+                }
+            }
+
         }
 
+        private (int, int) CoveredSquareCells()
+        {
+            var cleared = 0;
+            var uncleared = 0;
+            var map = _mapFactory.GetSquareMap();
+            foreach (var cellState in map.Map)
+            {
+                switch (cellState.Coverage)
+                {
+                    case Coverage.Covered:
+                        cleared++;
+                        break;
+                    case Coverage.Uncovered:
+                        uncleared++;
+                        break;
+                    default:
+                        throw new ArgumentOutOfRangeException();
+                }
+            }
+
+            return (cleared, uncleared);
+        }
+
+        private bool CheckForMines(List<Cell> detector)
+        {
+            var found = false;
+            foreach (var cell in detector.Where(cell => _mineMap.GetCell(cell.X, cell.Y)))
+            {
+                if(!squareBombsFound.Add(cell)) continue;
+                found = true;
+                BlockSquareCells(cell);
+            }
+
+            return found;
+        }
+
+        private void BlockSquareCells(Cell cell)
+        {
+            var map = _mapFactory.GetSquareMap();
+            var cellsToBlock = map.GetRange(cell, _vehicle.DetectorRadius);
+            foreach (var blockCell in cellsToBlock)
+            {
+                blockCell.Blocked = true;
+            }
+        }
+
+        #endregion
+
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/SimulationResults.cs b/ConsoleApp/SimulationResults.cs
index c2a2ca8..d008cfa 100644
--- a/ConsoleApp/SimulationResults.cs
+++ b/ConsoleApp/SimulationResults.cs
@@ -18,6 +18,15 @@ namespace ConsoleApp
         public List<Cell> Mines { get; set; }
         public int HexClearedCells { get; set; }
         public int HexUnClearedCells { get; set; }
+        
+        public List<ICell> SquarePath { get; set; }
+        public List<ICell> SquareMappedBombs { get; set; }
+        public int SquareCellsUncleared { get; set; }
+        public int SquareCellsCleared { get; set; }
+        public int SquareBombsFound { get; set; }
+        public int SquareTotalMoves { get; set; }
+        public List<ICell> SquareCoveredCells { get; set; }
+        public List<Coordinate2D> HexCoveredCells { get; set; }
 
         public SimulationResults()
         {
@@ -29,6 +38,15 @@ namespace ConsoleApp
             Mines = new List<Cell>();
             HexClearedCells = 0;
             HexUnClearedCells = 0;
+            SquarePath = new List<ICell>();
+            SquareMappedBombs = new List<ICell>();
+            SquareCellsUncleared = 0;
+            SquareCellsCleared = 0;
+            SquareBombsFound = 0;
+            SquareTotalMoves = 0;
+            SquareCoveredCells = new List<ICell>();
+            HexCoveredCells = new List<Coordinate2D>();
+
         }
 
         public void WriteResults()
@@ -37,28 +55,9 @@ namespace ConsoleApp
             WriteMines();
             WritePaths();
             WriteDetectedMines();
-            GenerateImages();
+            WriteCoveredCells();
         }
         
-        private static void GenerateImages()
-        {
-            var file = Path.Combine("./",Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location), @"HexPlot.py");
-            ProcessStartInfo startInfo = new ProcessStartInfo()
-            {
-                FileName = "python3",
-                Arguments = file,
-                UseShellExecute = true
-            };
-            Process proc = new Process()
-            {
-                StartInfo = startInfo,
-            };
-            proc.Start();
-            while (!proc.HasExited)
-            {
-                Thread.Sleep(500);
-            }
-        }
 
         private void WriteData()
         {
@@ -71,9 +70,19 @@ namespace ConsoleApp
                 tw.WriteLine($"\t Bombs Found: {HexBombsFound}");
                 tw.WriteLine($"\t Cleared Cell Count: {HexClearedCells}");
                 tw.WriteLine($"\t Uncleared Cell Count: {HexUnClearedCells}");
+                tw.WriteLine($"\t Percentage Cleared: {(double)HexClearedCells/(HexClearedCells+HexUnClearedCells)*100}");
+                tw.WriteLine($"Square: ");
+                tw.WriteLine($"\t Total Moves: {SquareTotalMoves}");
+                tw.WriteLine($"\t Bombs Found: {SquareBombsFound}");
+                tw.WriteLine($"\t Cleared Cell Count: {SquareCellsCleared}");
+                tw.WriteLine($"\t Uncleared Cell Count: {SquareCellsUncleared}");
+                tw.WriteLine($"\t Percentage Cleared: {(double) SquareCellsCleared / (SquareCellsCleared + SquareCellsUncleared)*100}");
+
             }
         }
 
+       
+        
         private void WriteMines()
         {
             using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/Mines.txt"))
@@ -83,11 +92,30 @@ namespace ConsoleApp
             }
         }
 
+        private void WriteCoveredCells()
+        {
+            using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/HexCoveredCells.txt"))
+            {
+                foreach (var s in HexCoveredCells)
+                    tw.WriteLine($"{s.X} {s.Y}");
+            }        
+            using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/SquareCoveredCells.txt"))
+            {
+                foreach (var s in SquareCoveredCells)
+                    tw.WriteLine($"{s.X} {s.Y}");
+            }        
+        }
+        
         private void WriteDetectedMines()
         {
             using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/HexDetectedMines.txt"))
             {
-                foreach (Coordinate2D s in HexMappedBombs)
+                foreach (var s in HexMappedBombs)
+                    tw.WriteLine($"{s.X} {s.Y}");
+            }        
+            using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/SquareDetectedMines.txt"))
+            {
+                foreach (var s in SquareMappedBombs)
                     tw.WriteLine($"{s.X} {s.Y}");
             }        
         }
@@ -96,9 +124,15 @@ namespace ConsoleApp
         {
             using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/HexPath.txt"))
             {
-                foreach (Coordinate2D s in HexPath)
+                foreach (var s in HexPath)
                     tw.WriteLine($"{s.X} {s.Y}");
             }
+            using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/SquarePath.txt"))
+            {
+                foreach (var s in SquarePath)
+                    tw.WriteLine($"{s.X} {s.Y}");
+            }
+            
         }
     }
 }
\ No newline at end of file