![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
All the lab works are here!
Dependencies: ISR_Mini-explorer mbed
Fork of VirtualForces by
Diff: main.cpp
- Revision:
- 31:352be78e1aad
- Parent:
- 30:95d8d3e2b81b
- Child:
- 32:d51928b58645
diff -r 95d8d3e2b81b -r 352be78e1aad main.cpp --- a/main.cpp Wed Apr 26 17:06:00 2017 +0000 +++ b/main.cpp Sat Apr 29 07:29:30 2017 +0000 @@ -68,14 +68,15 @@ const float DISTANCE_SONAR_FRONT_Y=5; //TODO adjust the size of the map for computation time (25*25?) -const float WIDTH_ARENA=120;//cm -const float HEIGHT_ARENA=90;//cm +const float WIDTH_ARENA=250;//cm +const float HEIGHT_ARENA=250;//cm //const int SIZE_MAP=25; -const int NB_CELL_WIDTH=24; -const int NB_CELL_HEIGHT=18; +const int NB_CELL_WIDTH=20; +const int NB_CELL_HEIGHT=20; //position and orientation of the robot when put on the map (ODOMETRY doesn't know those) it's in the robot frame +//this configuration suppose that the robot is in the middle of the arena facing up (to be sure you can use print_final_map_with_robot_position const float DEFAULT_X=HEIGHT_ARENA/2; const float DEFAULT_Y=WIDTH_ARENA/2; const float DEFAULT_THETA=0; @@ -121,7 +122,7 @@ fill_initial_log_values(); - theta=DEFAULT_THETA; //TODO + theta=DEFAULT_THETA; X=DEFAULT_X; Y=DEFAULT_Y; @@ -140,7 +141,7 @@ //fill initialLogValues with the values we already know (here the bordurs) void fill_initial_log_values(){ - //Fill map, we know the border are occupied + //Fill map, we know the border are occupied for (int i = 0; i<NB_CELL_WIDTH; i++) { for (int j = 0; j<NB_CELL_HEIGHT; j++) { if(j==0 || j==NB_CELL_HEIGHT-1 || i==0 || i==NB_CELL_WIDTH-1)