Mapping for TP2
Dependencies: ISR_Mini-explorer mbed
Fork of GoToPointWithAngle by
Diff: main.cpp
- Revision:
- 17:caf393b63e27
- Parent:
- 16:ff73cc7b3156
- Child:
- 19:6a9062d54eb0
- Child:
- 22:6a3b14e284ee
--- a/main.cpp Mon Mar 27 16:51:07 2017 +0000 +++ b/main.cpp Mon Mar 27 16:59:31 2017 +0000 @@ -31,10 +31,14 @@ int speed=999; // Max speed at beggining of movement //Target example x,y values -float target_x=46.8, target_y=78.6, target_angle=1.7; +float target_x, target_y, target_angle; //Timeout time; int main(){ + target_x=200*rand(); + target_y=200*rand(); + target_angle=3.1416*2*rand()-3.1416; + i2c1.frequency(100000); initRobot(); //Initializing the robot pc.baud(9600); // baud for the pc communication @@ -54,8 +58,14 @@ beta = -alpha-theta+target_angle; //beta = atan(sin(beta)/cos(beta)); - goToPointWithAngle(target_x, target_y, target_angle); - + while(1){ + goToPointWithAngle(target_x, target_y, target_angle); + + target_x=200*rand(); + target_y=200*rand(); + target_angle=3.1416*2*rand()-3.1416; + } + //Stop at the end leftMotor(1,0); rightMotor(1,0);