Diff: PROJ515.hpp

Revision:

4:f74d88f5f629

Parent:

3:cd1f2bde7ac2

Child:

6:40fc84f50432

--- a/PROJ515.hpp	Mon May 06 11:51:18 2019 +0000
+++ b/PROJ515.hpp	Mon May 06 16:36:51 2019 +0000
@@ -34,7 +34,7 @@
 #define FOV 1.396                   // Ultrasound sensor field of view
 #define MIN_RANGE 0.2               // Ultrasound sensor min range
 #define MAX_RANGE 2.5               // Ultrasound sensor max range
-#define CLIFF_TRH 0.12              // Robot cliff treshold
+#define CLIFF_TRH 0.12f             // Robot cliff treshold
 #define CLIFF_ZRO 0                 // Cliff not existent
 #define EXCL_ZONE 0.255             // Robot footprint exclusion zone
 
@@ -91,14 +91,14 @@
 Range ultrasound_msg_cb4;           // Instance for ROS NavSatFix message 8
 
 // Instance for ROS publishers (Range message for cliff and curb sensors)
-Publisher ultrasound_pub_cf1("/ultrasound/cf1", &ultrasound_msg_cf1); 
-Publisher ultrasound_pub_cf2("/ultrasound/cf2", &ultrasound_msg_cf2); 
-Publisher ultrasound_pub_cf3("/ultrasound/cf3", &ultrasound_msg_cf3); 
-Publisher ultrasound_pub_cf4("/ultrasound/cf4", &ultrasound_msg_cf4); 
-Publisher ultrasound_pub_cb1("/ultrasound/cb1", &ultrasound_msg_cb1); 
-Publisher ultrasound_pub_cb2("/ultrasound/cb2", &ultrasound_msg_cb2); 
-Publisher ultrasound_pub_cb3("/ultrasound/cb3", &ultrasound_msg_cb3); 
-Publisher ultrasound_pub_cb4("/ultrasound/cb4", &ultrasound_msg_cb4); 
+Publisher ultrasound_pub_cf1("ultrasound/cf1", &ultrasound_msg_cf1); 
+Publisher ultrasound_pub_cf2("ultrasound/cf2", &ultrasound_msg_cf2); 
+Publisher ultrasound_pub_cf3("ultrasound/cf3", &ultrasound_msg_cf3); 
+Publisher ultrasound_pub_cf4("ultrasound/cf4", &ultrasound_msg_cf4); 
+Publisher ultrasound_pub_cb1("ultrasound/cb1", &ultrasound_msg_cb1); 
+Publisher ultrasound_pub_cb2("ultrasound/cb2", &ultrasound_msg_cb2); 
+Publisher ultrasound_pub_cb3("ultrasound/cb3", &ultrasound_msg_cb3); 
+Publisher ultrasound_pub_cb4("ultrasound/cb4", &ultrasound_msg_cb4); 
 
 /* Threads and Signals */
 //Thread myThread (osPriorityNormal);