João Sousa / Mbed OS romi-vff

sra-romi

Dependencies:   BufferedSerial Matrix

control.h

Committer:
joaopsousa99
Date:
2021-05-11
Revision:
4:1defb279922a

File content as of revision 4:1defb279922a:

#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