Cleaning Logic
1. Edge-following:
robot follows the edge to map the entire pool while planning the bottom cleaning path.
2. Bottom cleaning path:
A. If mapping succeeds: two rounds of S-pattern bottom cleaning (edge-following + S-pattern).
B. If mapping fails: two rounds of DeepSense cleaning (continuous large bow-shaped path).
3. Wall cleaning: One round of N-pattern wall cleaning.
4. Surface cleaning:
A. If mapping succeeds:
two rounds of planned cleaning (one planned surface cleaning includes 3 edge-following passes + 3 S-pattern passes). The sequence:
After the first edge-following pass, perform a short S-pattern pass on both sides.
After the second edge-following pass, perform a long S-pattern pass.
After the third edge-following pass, perform another long S-pattern pass, followed by 2 hours of random cleaning.
B. If mapping fails:
2 hours of random cleaning + another 2 hours of random cleaning.
5. Return process: After cleaning, the robot randomly selects a direction to climb the wall, surfaces, and the water pump runs for 20 minutes waiting for user retrieval.
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