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Dependencies:   mbed

ActiveCell.h@6:2cd6ae395c0f, 2019-04-05 (annotated)

Committer:
shut
Date:
Fri Apr 05 14:28:09 2019 +0000
Revision:
6:2cd6ae395c0f
Parent:
4:5a892f5ab5a8
Child:
7:3a755ebe4eaf
retwerwer

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jsobiecki 4:5a892f5ab5a8 1 #ifndef UNTITLED2_ACTIVECELL_H
jsobiecki 4:5a892f5ab5a8 2 #define UNTITLED2_ACTIVECELL_H
jsobiecki 4:5a892f5ab5a8 3 #include <iostream>
jsobiecki 4:5a892f5ab5a8 4 #include <iomanip>
jsobiecki 4:5a892f5ab5a8 5 #include <math.h>
jsobiecki 4:5a892f5ab5a8 6
jsobiecki 4:5a892f5ab5a8 7 class ActiveCell {
jsobiecki 4:5a892f5ab5a8 8 public:
jsobiecki 4:5a892f5ab5a8 9 //cell dimension = 5x5cm
jsobiecki 4:5a892f5ab5a8 10 int cellVal;
shut 6:2cd6ae395c0f 11 float forceX;
shut 6:2cd6ae395c0f 12 float forceY;
shut 6:2cd6ae395c0f 13 float distance;
jsobiecki 4:5a892f5ab5a8 14 int xt, yt;
shut 6:2cd6ae395c0f 15 static const float repulsiveForce = 20;
jsobiecki 4:5a892f5ab5a8 16 //robots position
jsobiecki 4:5a892f5ab5a8 17 int x0;
jsobiecki 4:5a892f5ab5a8 18 int y0;
jsobiecki 4:5a892f5ab5a8 19
jsobiecki 4:5a892f5ab5a8 20 ActiveCell(){
jsobiecki 4:5a892f5ab5a8 21 cellVal=0;
jsobiecki 4:5a892f5ab5a8 22 forceX=0;
jsobiecki 4:5a892f5ab5a8 23 forceY=0;
jsobiecki 4:5a892f5ab5a8 24 x0=0;
jsobiecki 4:5a892f5ab5a8 25 y0=0;
jsobiecki 4:5a892f5ab5a8 26 }
jsobiecki 4:5a892f5ab5a8 27
jsobiecki 4:5a892f5ab5a8 28
jsobiecki 4:5a892f5ab5a8 29 void calForce() {
jsobiecki 4:5a892f5ab5a8 30 forceX = (repulsiveForce * cellVal / pow(distance, 2)) * (xt - x0) / distance;
jsobiecki 4:5a892f5ab5a8 31 forceY = (repulsiveForce * cellVal / pow(distance, 2)) * (yt - y0) / distance;
jsobiecki 4:5a892f5ab5a8 32 }
shut 6:2cd6ae395c0f 33 //Calculating distance from the robot
jsobiecki 4:5a892f5ab5a8 34 void calDist(int idX, int idY) {
jsobiecki 4:5a892f5ab5a8 35 if (idX < 5) {
jsobiecki 4:5a892f5ab5a8 36 xt = x0 - (5 - idX) * 5;
jsobiecki 4:5a892f5ab5a8 37 } else if (idX == 5) {
jsobiecki 4:5a892f5ab5a8 38 xt = x0;
jsobiecki 4:5a892f5ab5a8 39 } else {
jsobiecki 4:5a892f5ab5a8 40 xt = x0 + (idX - 5) * 5;
jsobiecki 4:5a892f5ab5a8 41 }
jsobiecki 4:5a892f5ab5a8 42 if (idY > 5) {
jsobiecki 4:5a892f5ab5a8 43 yt = y0 - (5 - idY) * 5;
jsobiecki 4:5a892f5ab5a8 44 } else if (idY == 5) {
jsobiecki 4:5a892f5ab5a8 45 yt = y0;
jsobiecki 4:5a892f5ab5a8 46 } else {
jsobiecki 4:5a892f5ab5a8 47 yt = y0 + (idY - 5) * 5;
jsobiecki 4:5a892f5ab5a8 48 }
shut 6:2cd6ae395c0f 49 distance = sqrt(pow((float)abs(x0 - xt), 2) + pow((float)abs(y0 - yt), 2));
jsobiecki 4:5a892f5ab5a8 50 }
jsobiecki 4:5a892f5ab5a8 51 };
jsobiecki 4:5a892f5ab5a8 52
jsobiecki 4:5a892f5ab5a8 53
jsobiecki 4:5a892f5ab5a8 54 #endif //UNTITLED2_ACTIVECELL_H