Diff: source/Mapping.cpp

Revision:

52:56399c2f13cd

Parent:

51:4a18b47fd659

Child:

57:1a395b6928ee

--- a/source/Mapping.cpp	Sat Apr 15 00:18:50 2017 +0000
+++ b/source/Mapping.cpp	Tue Apr 18 11:50:02 2017 +0000
@@ -44,7 +44,7 @@
             } else {
                 object = 1;
             }
-            position mapping_pos = position_calculation(distance0, servo_angle, 0.12, 0.12, current_heading, current_pos);
+            position mapping_pos = position_calculation(distance0, servo_angle, 0.12, -0.12, current_heading, current_pos);
             draw_to_map(mapping_pos, object);
         }
         //check_sensor(right);
@@ -58,7 +58,7 @@
             } else {
                 object = 1;
             }
-            position mapping_pos = position_calculation(distance4, -servo_angle, -0.12, 0.12, current_heading, current_pos);
+            position mapping_pos = position_calculation(distance4, -servo_angle, -0.12, -0.12, current_heading, current_pos);
             draw_to_map(mapping_pos, object);
         }
         //check_sensor(center);
@@ -71,7 +71,7 @@
             } else {
                 object = 1;
             }
-            position mapping_pos = position_calculation(distance2, 0, -0.12, 0.12, current_heading, current_pos);
+            position mapping_pos = position_calculation(distance2, 0, -0.12, -0.12, current_heading, current_pos);
             draw_to_map(mapping_pos, object);
         }
 
@@ -127,13 +127,14 @@
 //******************************************************************************
 void print_map()
 {
+    // Debug function for printing the obstacle matrix on putty. 
     for (int y = 0; y < col; y++) {
         for (int x = 0; x < row; x++) {
             printf("%d ", obstacle_list[y][x]);
         }
-        printf("\n");
+        printf("\r\n");
     }
-    printf("\n");
+    printf("\r\n");
 }
 
 //******************************************************************************