Energy harvesting mobile robot. Developed at Institute of Systems and Robotics — University of Coimbra.
Dependents: Mapping VirtualForces_debug OneFileToRuleThemAll VirtualForces_with_class ... more
Diff: robot.h
- Revision:
- 2:0435d1171673
- Parent:
- 1:8569ac717e68
- Child:
- 3:215c9544480d
diff -r 8569ac717e68 -r 0435d1171673 robot.h --- a/robot.h Tue Feb 20 13:37:47 2018 +0000 +++ b/robot.h Tue Feb 20 17:17:41 2018 +0000 @@ -12,6 +12,7 @@ float X=20; float Y=20; + float THETA; Mutex mutex_i2c0, mutex_i2c1; Encoder esquerdo(&i2c, &mutex_i2c0, 0); @@ -50,6 +51,7 @@ theta +=(D_cm - L_cm)/7.18; theta = atan2(sin(theta), cos(theta)); + THETA = theta; // meter entre 0