Main function for Pledge_Algorithm

pledge_algorithm_main

int main()
{

	emc::Rate r(10);
	while (io.ok())
	{
		if (io.readLaserData(scan))
		{

			check_for_invalid_LRF();
			detection();
			open_space_detect();
			if (openflag1 == 0) {
				if (dead_end == 0) {
					cout << "mode 1" << endl;

					pledge_alg();
					adjust_LRF();
					potential_fields(0, 0, 0.1, 0);

				}
				else dead_end_act();

			}
			else if (openflag1 == 1) {
				cout << "mode 2" << endl;
				random_walk();
				adjust_LRF();

				potential_fields(0, 0, 0.1, 0);

				detection();
				if (openspace == 0 || left_turn || right_turn)
					openflag1 = 0;

			}
			io.sendBaseReference(vx, vy, w);

		}
	}


	// Sleep remaining time
	r.sleep();


	return 0;

}