João Sousa / Mbed OS romi-vff

sra-romi

Dependencies:   BufferedSerial Matrix

Diff: control.h

Revision:
4:1defb279922a
diff -r 0a718d139ed1 -r 1defb279922a control.h
--- /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
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