docs: add physical rover setup reference

basic/grid_route.py

@@ -1,22 +1,19 @@
 #!/usr/bin/env python3
-"""Строит кратчайший маршрут по сетке маркеров 6x6 без ROS."""
+"""Строит кратчайший маршрут по регулярной сетке ArUco без ROS."""
 
 import argparse
 from collections import deque
 
 
-SIZE = 6
-
-
-def neighbors(marker: int):
-    row, column = divmod(marker, SIZE)
+def neighbors(marker: int, size: int):
+    row, column = divmod(marker, size)
     for dr, dc in ((-1, 0), (1, 0), (0, -1), (0, 1)):
         next_row, next_column = row + dr, column + dc
-        if 0 <= next_row < SIZE and 0 <= next_column < SIZE:
-            yield next_row * SIZE + next_column
+        if 0 <= next_row < size and 0 <= next_column < size:
+            yield next_row * size + next_column
 
 
-def build_route(start: int, target: int, blocked: set[int]):
+def build_route(start: int, target: int, blocked: set[int], size: int):
     queue = deque([start])
     previous = {start: None}
 
@@ -24,7 +21,7 @@ def build_route(start: int, target: int, blocked: set[int]):
         current = queue.popleft()
         if current == target:
             break
-        for candidate in neighbors(current):
+        for candidate in neighbors(current, size):
             if candidate not in blocked and candidate not in previous:
                 previous[candidate] = current
                 queue.append(candidate)
@@ -42,8 +39,9 @@ def build_route(start: int, target: int, blocked: set[int]):
 
 def main():
     parser = argparse.ArgumentParser(description=__doc__)
-    parser.add_argument("start", type=int, help="Стартовый маркер 0..35")
-    parser.add_argument("target", type=int, help="Целевой маркер 0..35")
+    parser.add_argument("start", type=int, help="ID стартового маркера")
+    parser.add_argument("target", type=int, help="ID целевого маркера")
+    parser.add_argument("--size", type=int, default=5, help="5 для реального поля, 6 для Webots")
     parser.add_argument(
         "--blocked",
         type=int,
@@ -53,13 +51,15 @@ def main():
     )
     args = parser.parse_args()
 
-    if not 0 <= args.start < SIZE * SIZE or not 0 <= args.target < SIZE * SIZE:
-        parser.error("start и target должны быть от 0 до 35")
+    if args.size < 2:
+        parser.error("--size должен быть не меньше 2")
+    if not 0 <= args.start < args.size**2 or not 0 <= args.target < args.size**2:
+        parser.error(f"start и target должны быть от 0 до {args.size**2 - 1}")
 
     blocked = set(args.blocked)
     blocked.discard(args.start)
     blocked.discard(args.target)
-    route = build_route(args.start, args.target, blocked)
+    route = build_route(args.start, args.target, blocked, args.size)
     if route is None:
         raise SystemExit("Маршрут не найден")
     print(" -> ".join(map(str, route)))
@@ -67,4 +67,3 @@ def main():
 
 if __name__ == "__main__":
     main()
-