ouais ok
Dependents: roboticLab_withclass_3_July
Fork of ISR_Mini-explorer by
Diff: robot.h
- Revision:
- 3:b996cbe5dabd
- Parent:
- 2:92ca9a6a1d4e
--- a/robot.h Tue Jul 11 16:54:58 2017 +0000 +++ b/robot.h Wed Jul 12 18:08:02 2017 +0000 @@ -51,9 +51,6 @@ int IRobot=0; int JRobot=0; -float D_cm=0; -float L_cm=0; - //SAIDAS DIGITAIS (normal) DigitalOut q_pha_mot_rig (PTE4,0); //Phase Motor Right DigitalOut q_sleep_mot_rig (PTE3,0); //Nano Sleep Motor Right @@ -1016,11 +1013,12 @@ ticks2d=ticks1d; ticks2e=ticks1e; - D_cm= (float)D_ticks*((3.25*3.1415)/4096); - L_cm= (float)E_ticks*((3.25*3.1415)/4096); + float D_cm= (float)D_ticks*((3.25*3.1415)/4096); + float L_cm= (float)E_ticks*((3.25*3.1415)/4096); //pc.printf("\r\nD_cm:%f",D_cm); //pc.printf("\r\nL_cm:%f",L_cm); float CM=(D_cm + L_cm)/2; + //pc.printf("\r\nCM:%f",CM); theta +=(D_cm - L_cm)/7.18; theta = atan2(sin(theta), cos(theta));