Aurélien Bernier Levalois / Mbed 2 deprecated Mapping

Mapping for TP2

Dependencies:   ISR_Mini-explorer mbed

Fork of GoToPointWithAngle by Georgios Tsamis

Files at this revision

API Documentation at this revision

Revision 10:a7fd80e79e80, committed 2017-03-27

Comitter:
geotsam
Date:
Mon Mar 27 16:31:41 2017 +0000
Parent:
9:b7138acdf4ac
Commit message:
deleted theta from function inputs

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Mon Mar 27 16:26:41 2017 +0000
+++ b/main.cpp	Mon Mar 27 16:31:41 2017 +0000
@@ -5,7 +5,7 @@
 Timer t;
 
 float dist(float robot_x, float robot_y, float target_x, float target_y);
-int goToPointWithAngle(float target_x, float target_y, float target_angle, int theta);
+int goToPointWithAngle(float target_x, float target_y, float target_angle);
 
 float alpha; //angle error
 float rho; //distance from target
@@ -18,6 +18,8 @@
 float temp;
 float d2;
 
+float map[40][40];
+
 //Diameter of a wheel and distance between the 2
 float r=3.25, b=7.2;
 
@@ -57,7 +59,7 @@
     return sqrt(pow(target_y-robot_y,2) + pow(target_x-robot_x,2));
 }
 
-int goToPointWithAngle(float target_x, float target_y, float target_angle, int theta) {
+int goToPointWithAngle(float target_x, float target_y, float target_angle) {
      do {
         pc.printf("\n\n\r entered while");