Diff: main.cpp

Revision:

9:d0ef39e209b7

Parent:

8:e7a12614d32b

--- a/main.cpp	Sun May 16 22:40:21 2021 +0000
+++ b/main.cpp	Thu May 20 16:18:59 2021 +0000
@@ -39,8 +39,8 @@
 float Y = ceil((float)200/5);
 
 float pose[3];
-float pose_f[3][1];
-float PointDetected[2][1];
+float pose_f[3];
+float PointDetected[2];
 
 //posicao inicial
 float xa = 0;
@@ -139,7 +139,7 @@
         start = clock();
         if(lidar.pollSensorData(&data) == 0) {
             pc.printf("%f\t%f\t%d\t%c\n", data.distance, data.angle, data.quality, data.startBit); // Prints one lidar measurement.
-            ComputeLidarPoint(&pose[3], &PointDetected, data.distance, data.angle)
+            ComputeLidarPoint(&pose[], &PointDetected[], data.distance, data.angle)
             occupancy_grid_mapping(&log_mapa, Mapa40, d, pose[2], ceil(xa/5), ceil(ya/5), theta, PointDetected[0], PointDetected[1]);
         }
         end = clock();
@@ -175,7 +175,7 @@
                     start = clock();
                     if(lidar.pollSensorData(&data) == 0) {
                         pc.printf("%f\t%f\t%d\t%c\n", data.distance, data.angle, data.quality, data.startBit); // Prints one lidar measurement.
-                        ComputeLidarPoint(&pose, &PointDetected, data.distance, data.angle)
+                        ComputeLidarPoint(&pose[], &PointDetected[], data.distance, data.angle)
                         occupancy_grid_mapping(&log_mapa, Mapa40, d, pose[2], ceil(xa/5), ceil(ya/5), theta, PointDetected[0], PointDetected[1]);
                     }
                     end = clock();