José Gouveia / Mbed OS SRA2020-2021

Dependencies:   BufferedSerial

Diff: main.cpp

Revision:
8:e7a12614d32b
Parent:
7:206792eb84c8
Child:
9:d0ef39e209b7
--- a/main.cpp	Sun May 16 01:01:20 2021 +0000
+++ b/main.cpp	Sun May 16 22:40:21 2021 +0000
@@ -140,7 +140,7 @@
         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)
-            occupancy_grid_mapping(&log_mapa, Mapa40, d, pose[2], xa, ya, theta, X_grelha, Y_grelha);
+            occupancy_grid_mapping(&log_mapa, Mapa40, d, pose[2], ceil(xa/5), ceil(ya/5), theta, PointDetected[0], PointDetected[1]);
         }
         end = clock();
         T_2 = T_2+((double) (end - start)) / CLOCKS_PER_SEC;
@@ -176,7 +176,7 @@
                     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)
-                        occupancy_grid_mapping(&log_mapa, Mapa40, d, pose[2], xa, ya, theta, X_grelha, Y_grelha);
+                        occupancy_grid_mapping(&log_mapa, Mapa40, d, pose[2], ceil(xa/5), ceil(ya/5), theta, PointDetected[0], PointDetected[1]);
                     }
                     end = clock();
                     T_2 = T_2+((double) (end - start)) / CLOCKS_PER_SEC;