ARES / Mbed 2 deprecated Robot2016_2-0

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Dependencies:   RoboClaw mbed StepperMotor

Fork of RoboClaw by Simon Emarre

Files at this revision

API Documentation at this revision

Revision 27:ae68960316f1, committed 2016-01-21

Comitter:
IceTeam
Date:
Thu Jan 21 14:25:03 2016 +0000
Parent:
25:6c5c453602ff
Child:
28:142ebc5410f3
Commit message:
Test robot aller-retour avec un obstacle et mpc=75

Changed in this revision

Map/Obstacles/Obs_circle.h Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/Map/Obstacles/Obs_circle.h	Wed Jan 20 17:14:29 2016 +0100
+++ b/Map/Obstacles/Obs_circle.h	Thu Jan 21 14:25:03 2016 +0000
@@ -7,7 +7,7 @@
 {
     public:
         /** Definit un obstacle de la forme d'un cercle 
-          * @param
+          * @param */
         Obs_circle(float robotRadius, int id, float x, float y, float size);
         virtual int height(float x, float y);
         

--- a/main.cpp	Wed Jan 20 17:14:29 2016 +0100
+++ b/main.cpp	Thu Jan 21 14:25:03 2016 +0000
@@ -44,13 +44,20 @@
     init();
     //Construction des obstacles
     map.build();
-    map.AStar(0, 1000, 2000, 1000, 100);
+    map.AStar(0, 1000, 1400, 1000, 75);
     path = map.path;
     
     for(int i=0; i<path.size();i++) {
         odo.GotoXYT(path[i].x, path[i].y, 0);
     }
-        
+    
+    map.AStar(0, 1000, 0, 1000, 75);
+    path = map.path;
+    
+    for(int i=0; i<path.size();i++) {
+        odo.GotoXYT(path[i].x, path[i].y, PI);
+    }
+     
     //odo.GotoXYT(500, 50, 0);
     //odo.GotoXYT(200, 0, 0);
     //odo.GotoXYT(0, 0, 0);
@@ -67,7 +74,7 @@
     pc.printf("Hello from main !\n\r");
     wait_ms(500);
     
-    odo.setPos(0, 0, 0);
+    odo.setPos(0, 1000, 0);
     roboclaw.ForwardM1(ADR, 0);
     roboclaw.ForwardM2(ADR, 0);