File content as of revision 57:1a395b6928ee:

/**
 * Positioning function library
 * Handels position of the Robot on the map
**/


#include "Positioning.h"
position current_pos;
float current_heading;
position next_pos;

position get_current_pos()
{
    return current_pos;
}

position get_next_pos()
{
    return next_pos;
}

float get_current_heading()
{
    return current_heading;
}


int positioning()
{

    return 0;
}


/*
void initial_positioning()
{
    float last_dist_r = 1.0f;
    float last_dist_f = 1.0f;

    int deg_r = 0;
    int deg_l = 0;

    turn_straight_right();
    turn_straight_left();

    while(last_dist_r > sensors[r]) {
        turn_sensor_right(1); //turn sensor + 1 deg
        wait(0.1f)
        deg_r += 1;
        last_dist_r = sensors[r];
    }

    while(last_dist_l > sensors[l]) {
        turn_sensor_left(-1); //turn sensor - 1 deg
        wait(0.1f)
        deg_l += 1;
        last_dist_l = sensors[l];
    }

    int deg_l_2=0;
    turn_straight_left();
    last_dist_l = 0;

    while(last_dist_l < sensors[l]) {
        turn_sensor_left(1); //turn sensor +1 deg (positiv = uhrzeigersinn)
        wait(0.1f)
        deg_l_2 += 1;
        last_dist_l = sensors[l];
    }

    turn_straight_right();
    turn_straight_left();

    wait(0.2f);

}
*/