Gonçalo Lopes / Mbed OS 3

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Dependencies:   BufferedSerial

main.cpp@4:53ac11e9e8b9, 2021-05-03 (annotated)

Committer:
xaficz
Date:
Mon May 03 15:22:53 2021 +0000
Revision:
4:53ac11e9e8b9
Parent:
3:0a718d139ed1
Child:
5:25bd866ef068
VFH com Lidar

Who changed what in which revision?

UserRevisionLine numberNew contents of line
LuisRA 0:2b691d200d6f 1 #include "mbed.h"
LuisRA 0:2b691d200d6f 2 #include "BufferedSerial.h"
LuisRA 0:2b691d200d6f 3 #include "rplidar.h"
fabiofaria 1:dc87724abce8 4 #include "Robot.h"
fabiofaria 1:dc87724abce8 5 #include "Communication.h"
xaficz 4:53ac11e9e8b9 6 #include <string.h>
xaficz 4:53ac11e9e8b9 7 #include <stdio.h>
xaficz 4:53ac11e9e8b9 8 #include <math.h>
LuisRA 0:2b691d200d6f 9
xaficz 4:53ac11e9e8b9 10 #define pi 3.14159265359
fabiofaria 1:dc87724abce8 11
xaficz 4:53ac11e9e8b9 12 // ****** Inicialização de Variáveis ****** //
LuisRA 0:2b691d200d6f 13
xaficz 4:53ac11e9e8b9 14 // Carateristicas da Plataforma
xaficz 4:53ac11e9e8b9 15 float r = 3.5;
xaficz 4:53ac11e9e8b9 16 float L = 15;
xaficz 4:53ac11e9e8b9 17
xaficz 4:53ac11e9e8b9 18 // Velocidade Máxima das Rodas
xaficz 4:53ac11e9e8b9 19 float w_Max = 150;
xaficz 4:53ac11e9e8b9 20
xaficz 4:53ac11e9e8b9 21 // Posição Inicial e Final
xaficz 4:53ac11e9e8b9 22 float x_Inicial = 15;
xaficz 4:53ac11e9e8b9 23 float y_Inicial = 15;
xaficz 4:53ac11e9e8b9 24 float phi_Inicial = 0;
xaficz 4:53ac11e9e8b9 25 float x_Final = 100;
xaficz 4:53ac11e9e8b9 26 float y_Final = 75;
xaficz 4:53ac11e9e8b9 27
xaficz 4:53ac11e9e8b9 28 // Ganhos de Controlo
xaficz 4:53ac11e9e8b9 29 float kv = 9;
xaficz 4:53ac11e9e8b9 30 float ki = 0.15;
xaficz 4:53ac11e9e8b9 31 float ks = 18;
LuisRA 0:2b691d200d6f 32
xaficz 4:53ac11e9e8b9 33 // Alpha e Limiares
xaficz 4:53ac11e9e8b9 34 float Limiar_Histograma = 3;
xaficz 4:53ac11e9e8b9 35 float Limiar_Vale = 0.5;
xaficz 4:53ac11e9e8b9 36
xaficz 4:53ac11e9e8b9 37 // Matrizes de Mapeamento
xaficz 4:53ac11e9e8b9 38 float Map[80][80];
xaficz 4:53ac11e9e8b9 39 float Log_Map[80][80];
xaficz 4:53ac11e9e8b9 40
xaficz 4:53ac11e9e8b9 41 int main(){
xaficz 4:53ac11e9e8b9 42
xaficz 4:53ac11e9e8b9 43 //:::::::::::::::::Inicializaçao dos Mapas a zero::::::::::::
xaficz 4:53ac11e9e8b9 44
xaficz 4:53ac11e9e8b9 45 for(int i = 0; i < 80; i++){
xaficz 4:53ac11e9e8b9 46 for(int j = 0; j < 80; j++){
xaficz 4:53ac11e9e8b9 47 Map[i][j] = 0;
LuisRA 0:2b691d200d6f 48 }
xaficz 4:53ac11e9e8b9 49 }
xaficz 4:53ac11e9e8b9 50
xaficz 4:53ac11e9e8b9 51 for(int i = 0; i < 80; i++){
xaficz 4:53ac11e9e8b9 52 for(int j = 0; j < 80; j++){
xaficz 4:53ac11e9e8b9 53 Log_Map[i][j] = 0;
xaficz 4:53ac11e9e8b9 54 }
xaficz 4:53ac11e9e8b9 55 }
xaficz 4:53ac11e9e8b9 56
xaficz 4:53ac11e9e8b9 57
xaficz 4:53ac11e9e8b9 58 //:::::::::::::::::::::Função VFH::::::::::::::::::::..
xaficz 4:53ac11e9e8b9 59
xaficz 4:53ac11e9e8b9 60 VFH(x_Inicial, y_Inicial, phi_Inicial, x_Final, y_Final, Log_Map, Map, Limiar_Histograma, Limiar_Vale, kv, ki, ks, L, r, w_Max);
xaficz 4:53ac11e9e8b9 61
fabiofaria 1:dc87724abce8 62 }