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sra-romi
Dependencies: BufferedSerial Matrix
Diff: control.h
- Revision:
- 4:1defb279922a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/control.h Tue May 11 18:10:22 2021 +0000 @@ -0,0 +1,17 @@ +#ifndef CONTROL_H_ +#define CONTROL_H_ + +#include "mbed.h" +#include "Matrix.h" + +extern const float TIMESTEP; +extern const float PI; +extern const float CELL_SIZE; +extern const int GRID_SIZE; + +void moveToPoint(float xObj, float yObj); +void followPath(float &objAheadX, float &objAheadY, float &intError, float *objCellCenter, Matrix occupationGrid, Serial pc); +float vff(Matrix occupationGrid, int *xactive, int *yactive, int activeSize, float *objCellCenter, Serial pc); +Matrix create_occupation_grid(); + +#endif \ No newline at end of file