Diff: Robot.cpp

Revision:

6:df6b8b2468d8

Parent:

5:25bd866ef068

diff -r 25bd866ef068 -r df6b8b2468d8 Robot.cpp
--- a/Robot.cpp	Mon May 17 15:03:21 2021 +0000
+++ b/Robot.cpp	Tue May 18 00:04:27 2021 +0000
@@ -1,6 +1,15 @@
 #include "Robot.h"
 #include "mbed.h"
 
+
+#include "BufferedSerial.h"
+#include "rplidar.h"
+
+#include "Communication.h"
+#include <string.h>
+#include <stdio.h>
+#include <math.h>
+
 I2C i2c(I2C_SDA, I2C_SCL );
 const int addr8bit = 20 << 1; // 7bit I2C address is 20; 8bit I2C address is 40 (decimal).
 
@@ -61,21 +70,3 @@
     countsLeft = (int16_t((read_buffer[0]<<8)|read_buffer[1]));
     countsRight = (int16_t((read_buffer[2]<<8)|read_buffer[3]));
 }
-
-//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;
-                }
-            }              
-        }
-    } 
-}
-