Ternary numbers for diagonal micromouse turns
by Alan Dibley
The translation of a route from one using 90 degree turns only to one using a combination of 45, 90 and 135 degree turns is not an obvious or trivial task. There are several possible approaches. this method recognises that there are only three kinds of action in an orthogonal route. Thus it seems to make sense to represent those values as a base three, or ternary, number. A simple translation process can then take these values as triplets and look up a translated move in a table.