File content as of revision 9:d0ef39e209b7:

/** @file */
#ifndef ROBOT_H_
#define ROBOT_H_

#include "mbed.h"
#include "Robot.cpp"

//I2C i2c;
extern int16_t countsLeft;
extern int16_t countsRight;

typedef struct{
    //Robot properties
    float worldTrobot[3][3]; 
    //Wheels properties
    float nWheels;
    float robotTwheels;
    float wheels2Twheels;
    float wheelsPoints;
    float hWheels;
    //Platform properties
    float platformRadius;
    float hPlatform;
}Robot; 

void getPose(struct Robot Robot,float *pose);

void velRobot2velWheels(float vRobot,float wRobot,float wheelsRadius,float wheelsDistance,float *w);

void nextPose(float T,float w,float wRobot,float *poseRobot,float wheelsRadius,float wheelsDistance,float *nextPose);

void robot_init(struct Robot *r, float rPos_a[],float rTheta,float nW);

void occupancy_grid_mapping(int *log_mapa[40][40], float d,float theta,float actual_x,float actual_y,float angle,int i,int j);

void ComputeLidarPoint(float *pose, float *PointDetected, float distance, float angle);

int inverse_range_sensor_model(float d,float theta,float atual_x,float atual_y,float cell_x,float cell_y);

void setPose(Robot *r, float *pose);
/** \brief Sets the speed for both motors.
 *
 * \param leftSpeed A number from -300 to 300 representing the speed and
 * direction of the left motor. Values of -300 or less result in full speed
 * reverse, and values of 300 or more result in full speed forward.
 * \param rightSpeed A number from -300 to 300 representing the speed and
 * direction of the right motor. Values of -300 or less result in full speed
 * reverse, and values of 300 or more result in full speed forward. */
void setSpeeds(int16_t leftSpeed, int16_t rightSpeed);

/** \brief Sets the speed for the left motor.
 *
 * \param speed A number from -300 to 300 representing the speed and
 * direction of the left motor.  Values of -300 or less result in full speed
 * reverse, and values of 300 or more result in full speed forward. */
void setLeftSpeed(int16_t speed);

/** \brief Sets the speed for the right motor.
 *
 * \param speed A number from -300 to 300 representing the speed and
 * direction of the right motor. Values of -300 or less result in full speed
 * reverse, and values of 300 or more result in full speed forward. */
void setRightSpeed(int16_t speed);

/*! Returns the number of counts that have been detected from the both
 * encoders.  These counts start at 0.  Positive counts correspond to forward
 * movement of the wheel of the Romi, while negative counts correspond
 * to backwards movement.
 *
 * The count is returned as a signed 16-bit integer.  When the count goes
 * over 32767, it will overflow down to -32768.  When the count goes below
 * -32768, it will overflow up to 32767. */
void getCounts();

/*! This function is just like getCounts() except it also clears the
 *  counts before returning.  If you call this frequently enough, you will
 *  not have to worry about the count overflowing. */
void getCountsAndReset();

#endif /* ROBOT_H_ */