Diff: main.cpp

Revision:

10:a7fd80e79e80

Parent:

9:b7138acdf4ac

--- 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");