The numbers refer to the weighting given to turns. Choosing 1 means that moving straight ahead is no more costly than turning lefto or right. Larger numbers increase the cost of turning. As the cost is increased, the route chosen favours runs with fewer turns. Mice can alter the weighting to suit their characteristics and to determine whether it might be worth continuing to search for a more optimal route.

In this program flooding begins at the start cell and floods the entire maze. In a practical mouse the same algorithm would flood from the current mouse position until the destination is reached or no changes are detected. In this way the mouse will be able to calculate a route from its current location to any given cell.

I’m also curious about the flood fill. Doesn’t the flood start from the middle?

Alan KM6VV