Aurélien Bernier Levalois / Mbed 2 deprecated Mapping

Mapping for TP2

Dependencies:   ISR_Mini-explorer mbed

Fork of GoToPointWithAngle by Georgios Tsamis

Files at this revision

API Documentation at this revision

Revision 15:d58f2bdbf42e, committed 2017-03-27

Comitter:
geotsam
Date:
Mon Mar 27 16:49:49 2017 +0000
Parent:
13:41f75c132135
Child:
16:ff73cc7b3156
Commit message:
changed the too-close behaviour to break the while immediately

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Mon Mar 27 16:42:53 2017 +0000
+++ b/main.cpp	Mon Mar 27 16:49:49 2017 +0000
@@ -19,7 +19,7 @@
 float temp;
 float d2;
 
-bool tooClose = false;
+//bool tooClose = false;
 
 int leftMm;
 int frontMm;
@@ -85,14 +85,14 @@
         t.reset();
         t.start();
         
+        //Updating X,Y and theta with the odometry values
+        Odometria();
+        
         updateSonarValues();
         if (leftMm < 100 || frontMm < 100 || rightMm < 100) {
-            tooClose = true;    
+            break;    
         }
         
-        //Updating X,Y and theta with the odometry values
-        Odometria();
-        
         alpha = atan2((target_y-Y),(target_x-X))-theta;
         alpha = atan(sin(alpha)/cos(alpha));
         rho = dist(X, Y, target_x, target_y);
@@ -145,7 +145,7 @@
         wait(0.2);
         //Timer stuff
         t.stop();
-    } while(d2>1 & !tooClose);
+    } while(d2>1);
     
     return 0;
 }
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