Ecovacs Deebot X9 Pro Omni
GitHub: @bostrot，这一点在新收录的资料中也有详细论述
。业内人士推荐新收录的资料作为进阶阅读
Notes on baking at the South Pole.。PDF资料对此有专业解读
Hex math is weird. Since there are 6 directions instead of 4, there's no simple mapping between hex positions and 2D x,y coordinates. The naive approach is offset coordinates — numbering cells left-to-right, top-to-bottom like a regular grid. This works until you need to find neighbors, compute distances, or do anything involving directions. Then it gets confusing fast, with different formulas for odd and even rows.
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