Henrique Cardoso / Mbed OS Lidar_Rodas

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Dependencies:   BufferedSerial

Diff: Functions.cpp

Revision:
11:58187c7de709
Parent:
10:6c8ea68e9bac
Child:
12:348038b466a3
--- a/Functions.cpp	Wed May 12 19:00:45 2021 +0000
+++ b/Functions.cpp	Thu May 13 16:28:09 2021 +0000
@@ -35,7 +35,7 @@
 float Algorith_Inverse(float xi, float yi, float xt, float yt, float z){
     
     float z_max = 200; // 2 m
-    float alfa = 10;
+    float alfa = 6.0f/5.0f;
     //float beta = 1; // 1 grau
     float L0 = 0.0;
     float Locc = 0.65;
@@ -47,7 +47,7 @@
     
     //if (r > min(z_max, z+alfa/2)) || (abs(phi-theta) > beta/2)
         //L = L0;
-    if ((z < z_max) && (abs(r-z) < alfa/2.0))
+    if ((z < z_max) && (abs(r-z) < alfa/2.0f))
         L = Locc;
     else if (r <= z)
         L = Lfree;