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## MMS Maze Simulation & Testing
To validate the **Flood-Fill** pathfinding and orientation logic before flashing the firmware onto the physical ESP32-S3, Bills was intensively tested using the **MMS (Micromouse Simulator)** environment.
### Simulation Overviews
Here are the breakdown assessments of the navigation logic across different grid conditions:
#### 1️⃣ Full Maze Navigation with Walls (`MMSsimulator.mp4`)
**Exploration & Mapping Profile:** This run shows Bills interacting with an unknown maze configuration. The mouse maps peripheral walls in real-time, increments cell path costs, handles dead ends efficiently, and tracks the shortest route toward the center coordinates.
#### 2️⃣ Open Grid Gradient Flow (`simulator-without-wall.mp4`)
**Ideal Path Convergence:** Testing the mathematical integrity of the Manhattan distance equations inside a blank maze grid. This simulation verifies that the coordinate vectors flawlessly stream down the lowest values of the calculation gradient directly to the center without lateral software trapping.
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## Code Shortcuts
Want to see the actual software controlling these simulations?
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### 🔀 Simulation Tracking
* **[Click here to view the MMS Simulation Logic Code](./Firmware/Logic_MMS_simulator.md)** to inspect how the coordinate navigation functions run inside the virtual matrix before flashing.
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