with class
Dependencies: ISR_Mini-explorer mbed
Fork of VirtualForces by
Diff: MiniExplorerCoimbra.hpp
- Revision:
- 36:b59d56d0b3b4
- Parent:
- 35:68f9edbb3cff
- Child:
- 37:b4c45e43ad29
diff -r 68f9edbb3cff -r b59d56d0b3b4 MiniExplorerCoimbra.hpp --- a/MiniExplorerCoimbra.hpp Sun Jun 11 22:40:37 2017 +0000 +++ b/MiniExplorerCoimbra.hpp Sun Jun 11 22:53:59 2017 +0000 @@ -45,10 +45,6 @@ float repulsionConstantForce; MiniExplorerCoimbra(float defaultXWorld, float defaultYWorld, float defaultThetaWorld); - - void setXYThetaAndXYThetaWorld(float defaultXWorld, float defaultYWorld, float defaultThetaWorld); - - void myOdometria(); //generate a position randomly and makes the robot go there while updating the map void randomize_and_map(); @@ -56,13 +52,22 @@ //move of targetXWorld and targetYWorld ending in a targetAngleWorld void go_to_point_with_angle(float targetXWorld, float targetYWorld, float targetAngleWorld); - void update_sonar_values(float leftMm,float frontMm,float rightMm); - - //Distance computation function - float dist(float x1, float y1, float x2, float y2); - //use virtual force field void try_to_reach_target(float targetXWorld,float targetYWorld); + + void print_final_map_with_robot_position(); + + void print_final_map_with_robot_position_and_target(float targetXWorld, float targetYWorld); + + void print_final_map(); + + private: + + void setXYThetaAndXYThetaWorld(float defaultXWorld, float defaultYWorld, float defaultThetaWorld); + + void myOdometria(); + + void update_sonar_values(float leftMm,float frontMm,float rightMm); void vff(bool* reached, float targetXWorld, float targetYWorld); @@ -76,7 +81,6 @@ //currently line_c is not used void go_to_line(float line_a, float line_b, float line_c,float targetXWorld, float targetYWorld); - float update_angular_speed_wheels_go_to_point_with_angle(float targetXWorld, float targetYWorld, float targetAngleWorld, float dt); /*angleToTarget is obtained through atan2 so it s: @@ -87,11 +91,8 @@ void do_half_flip(); - void print_final_map_with_robot_position(); - - void print_final_map_with_robot_position_and_target(float targetXWorld, float targetYWorld); - - void print_final_map(); + //Distance computation function + float dist(float x1, float y1, float x2, float y2); //return 1 if positiv, -1 if negativ float sign1(float value);