Diff: navigation.cpp

Revision:

4:a5d44517c65c

Parent:

3:27cc2bacd6af

Child:

5:d0954e0aecc9

--- a/navigation.cpp	Wed Feb 17 16:47:15 2016 +0000
+++ b/navigation.cpp	Tue Feb 23 23:36:03 2016 +0000
@@ -168,12 +168,12 @@
     float targetAngle;
     float targetDist;
     float differenceAngle;
-    
+
     while (!route.empty() )
     {
         target = route.top();
         route.pop();
-        
+
         for (int i = 0; i < graph[vertex].size(); i++)
         {
             if (graph[vertex][i].neighbor == target)
@@ -183,35 +183,35 @@
                 break;
             }
         }
-        
+
         if (targetAngle != angle)
         {
             differenceAngle = targetAngle - angle;
-            
+
             if (abs(differenceAngle) > 180)
             {
-                if (differenceAngle < 0) // 
+                if (differenceAngle < 0) //
                     differenceAngle = 360 - abs(differenceAngle);
                 else
                     differenceAngle = -(360 - differenceAngle);
             }
-            
+
             else
             {
                 /* do nothing */
             }
-                
+
             /* send -(differenceAngle) to motors */
             int returnVal = drive.move(0, ((-differenceAngle)*(PI / 180.0)) );
-            pc.printf("\nChanged angle %f degrees to %f", differenceAngle, targetAngle);          
-            
+            pc.printf("\nChanged angle %f degrees to %f", differenceAngle, targetAngle);
+
             // wait for move to complete
             while(!drive.isMoveDone())
             {
                 wait(1e-6);
             }
         }
-      
+
         /* send targetDist to motors */
         int returnVal = drive.move(targetDist, 0);
         pc.printf("\nMoved forward a distance of %f to node %i", targetDist, target);
@@ -221,7 +221,7 @@
         {
             wait(1e-6);
         }
-        
+
         vertex = target;
         angle = targetAngle;
     }
@@ -254,4 +254,4 @@
         {
             pc.printf("Node %i to %i = dist - %f, angle - %f\n", i, j, graph[i][j].distance, graph[i][j].angle);
         }
-}
+}
\ No newline at end of file