Fabio Faria / ISR_Mini-explorer_tmp

Energy harvesting mobile robot. Developed at Institute of Systems and Robotics — University of Coimbra.

Dependencies:   RF24

Fork of ISR_Mini-explorer by ISR UC

Diff: robot.h

Revision:
2:0435d1171673
Parent:
1:8569ac717e68
Child:
3:215c9544480d
--- a/robot.h	Tue Feb 20 13:37:47 2018 +0000
+++ b/robot.h	Tue Feb 20 17:17:41 2018 +0000
@@ -12,6 +12,7 @@
 
     float X=20;
     float Y=20;
+    float THETA;
     
     Mutex mutex_i2c0, mutex_i2c1;
     Encoder esquerdo(&i2c, &mutex_i2c0, 0);
@@ -50,6 +51,7 @@
         theta +=(D_cm - L_cm)/7.18;
 
         theta = atan2(sin(theta), cos(theta));
+        THETA = theta;
 
         // meter entre 0