Path Finding ants

breed [ants ant]
ants-own [
  distance_to_home
  distance_to_target
  mode
  speed
]

breed [houses house]
breed [sugars sugar]

directed-link-breed [connections connection]
connections-own [
  death-time
]

to setup
  clear-all

  add_house
  add_sugar

  create-ants number_of_turtles [
    set distance_to_home 0
    set distance_to_target 10000
    set speed random-float 1.5
    set mode "hunt"
    set color red
    set shape "bug"
    set size 0.5
    move-to one-of houses
  ]
  reset-ticks
end 

to go
  ask ants [
    update_position

    check_target_reached

    move_max_distance

    emit_info
  ]

  ask connections [
    if ticks >= death-time [die]
  ]

  tick
end 

to add_sugar
  create-sugars 1 [
    setxy random-xcor random-ycor 
    move-to one-of patches with [not any? other houses in-radius distance_locations]
    move-to one-of patches with [not any? other sugars in-radius distance_locations]
    set color yellow
    set shape "circle"
    set size 4
  ]
end 

to add_house
  create-houses 1 [ 
    setxy random-xcor random-ycor 
    move-to one-of patches with [not any? other houses in-radius distance_locations]
    move-to one-of patches with [not any? other sugars in-radius distance_locations]
    set color blue
    set shape "circle"
    set size 4
  ]
end 

to update_position
  rt random 10
  lt random 10
  fd speed
  set distance_to_home distance_to_home + 1
  set distance_to_target distance_to_target + 1
end 

to check_target_reached
  ifelse (mode = "hunt" and any? sugars-here) [
    set distance_to_target 0
    set mode "home"
    set color blue
    rt 180
  ] [if (mode = "home" and any? houses-here) [
    set distance_to_home 0
    set mode "hunt"
    set color red
    rt 180
  ]]
end 

to move_max_distance
  ; check that not lost
  if (distance_to_home >= max_search_distance and mode = "home") or
  (distance_to_target >= max_search_distance and mode = "hunt") [
    rt random 90
    lt random 90
  ] 
end 

to emit_info 
  let emiter self
  let clue_distance_home distance_to_home + max_emit_radius
  let clue_distance_target distance_to_target + max_emit_radius

  ask ants in-radius max_emit_radius [
    ifelse mode = "hunt" and clue_distance_target <= distance_to_target [
      set distance_to_target clue_distance_target
      face emiter
      if display_links? [
        create-connection-from emiter [
          set color red
          set death-time ticks + 5]]
    ] 
    [if mode = "home" and clue_distance_home <= distance_to_home [
      set distance_to_home clue_distance_home
      face emiter
      if display_links? [
        create-connection-from emiter [
          set color blue
          set death-time ticks + 5]]
    ]]
  ]
end 

to setup_avg_plots
  clear-all-plots
end 

to plot_avg_home
  let avg-distance-to-home mean [distance_to_home] of ants

  ; plot the average distance to A
  plotxy ticks avg-distance-to-home
end 

to plot_avg_target
  let avg-distance-to-target mean [distance_to_target] of ants

  ; plot the average distance to B
  plotxy ticks avg-distance-to-target
end 

to plot_mode_home
  plotxy ticks count ants with [mode = "home"]
end 

to plot_mode_target
  plotxy ticks count ants with [mode = "hunt"]
end