Diff: Robot.cpp

Revision:

5:25bd866ef068

Parent:

1:dc87724abce8

Child:

6:df6b8b2468d8

--- a/Robot.cpp	Mon May 03 15:22:53 2021 +0000
+++ b/Robot.cpp	Mon May 17 15:03:21 2021 +0000
@@ -60,4 +60,22 @@
     i2c.read( addr8bit, read_buffer, 4);
     countsLeft = (int16_t((read_buffer[0]<<8)|read_buffer[1]));
     countsRight = (int16_t((read_buffer[2]<<8)|read_buffer[3]));
-}
\ No newline at end of file
+}
+
+//Funcao para criar um mapa simples com um quadrado no meio
+void read_map(int Map_Matrix[80][80]){
+    for(int i = 0; i < 80; i++){
+        for(int j = 0; j < 80; j++){
+            if(i == 0 || j==0 || i==79 || j==79){
+                Map_Matrix[i][j] = 1;  
+            }     
+            else{
+                Map_Matrix[i][j] = 0;
+                if(i >= 10 && j>=10 && i<=69 && j<=69){
+                    Map_Matrix[i][j] = 1;
+                }
+            }              
+        }
+    } 
+}
+