test morning
Dependencies: ISR_Mini-explorer mbed
Fork of roboticLab_withclass_3_July by
Diff: MiniExplorerCoimbra.hpp
- Revision:
- 14:696187e74411
- Parent:
- 10:d0109d7cbe7c
--- a/MiniExplorerCoimbra.hpp Wed Jul 12 09:07:31 2017 +0000 +++ b/MiniExplorerCoimbra.hpp Wed Jul 12 18:08:07 2017 +0000 @@ -51,6 +51,19 @@ float repulsionConstantForce; myMatrix covariancePositionEstimationK; + float D_cm; + float L_cm; + + float myX_r; + float myY_r; + float mytheta_r; + + float myX_r_correct; + float myY_r_correct; + float mytheta_r_correct; + + long int ticks2d_Special; + long int ticks2e_Special; MiniExplorerCoimbra(float defaultXWorld, float defaultYWorld, float defaultThetaWorld, float widthRealMap, float heightRealMap); @@ -86,18 +99,24 @@ void go_to_point_kalman(float targetXWorld, float targetYWorld); - void OdometriaKalmanFilter(); + void go_to_point_kalman2(float targetXWorld, float targetYWorld); void test_prediction_sonar(); + void OdometriaKalmanFilter(); + void printMatrix(myMatrix mat1); - private: + void myOdometriaBis(); + + void testOdometria(float *D_Special,float *L_Special); void myOdometria(); void setXYThetaAndXYThetaWorld(float defaultXWorld, float defaultYWorld, float defaultThetaWorld); + private: + float update_angular_speed_wheels_go_to_point_with_angle(float targetXWorld, float targetYWorld, float targetAngleWorld, float dt); void update_sonar_values(float leftMm,float frontMm,float rightMm);