Revision 35:68f9edbb3cff, committed 2017-06-11

Comitter:

Ludwigfr

Date:

Sun Jun 11 22:40:37 2017 +0000

Parent:

34:c208497dd079

Child:

36:b59d56d0b3b4

Commit message:

change so every command to the robot is in world coordinate

Changed in this revision

--- a/Map.cpp	Fri Jun 09 14:30:21 2017 +0000
+++ b/Map.cpp	Sun Jun 11 22:40:37 2017 +0000
@@ -38,24 +38,10 @@
     return 1-1/(1+exp(lt));
 }
 
-
-//returns the log value that the cell is occupied from the probability value [0,1]
-float Map::proba_to_log(float p){
-    return log(p/(1-p));
-}
-
 void Map::update_cell_value(int widthIndice,int heightIndice ,float proba){
     this->cellsLogValues[widthIndice][heightIndice]=this->cellsLogValues[widthIndice][heightIndice]+this->proba_to_log(proba)+this->initialLogValues[widthIndice][heightIndice];//map is filled as map[0][0] get the data for the point closest to the origin
 }
 
-float Map::robot_x_coordinate_in_world(float robot_x, float robot_y){
-    return this->nbCellWidth*this->sizeCellWidth-robot_y;
-}
-
-float Map::robot_y_coordinate_in_world(float robot_x, float robot_y){
-    return robot_x;
-}
-
 float Map::cell_width_coordinate_to_world(int i){
 	return this->sizeCellWidth/2+i*this->sizeCellWidth;
 }
@@ -68,8 +54,22 @@
 	return  this->log_to_proba(this->cellsLogValues[widthIndice][heightIndice]);
 }
 
+//returns the log value that the cell is occupied from the probability value [0,1]
+float Map::proba_to_log(float p){
+    return log(p/(1-p));
+}
+
 /*
 
+float Map::robot_x_coordinate_in_world(float robot_x, float robot_y){
+    return this->nbCellWidth*this->sizeCellWidth-robot_y;
+}
+
+float Map::robot_y_coordinate_in_world(float robot_x, float robot_y){
+    return robot_x;
+}
+
+
 void MiniExplorerCoimbra::print_final_map() {
     float currProba;
     pc.printf("\n\r");

--- a/Map.hpp	Fri Jun 09 14:30:21 2017 +0000
+++ b/Map.hpp	Sun Jun 11 22:40:37 2017 +0000
@@ -48,21 +48,22 @@
     
     //Updates map value
     void update_cell_value(int widthIndice,int heightIndice ,float proba);
+
+    //fill initialLogValues with the values we already know (here the bordurs)
+    void fill_initialLogValues();
     
     //returns the probability [0,1] that the cell is occupied from the log valAue lt
     float log_to_proba(float lt);
 
     //returns the log value that the cell is occupied from the probability value [0,1]
     float proba_to_log(float p);
-
-    //fill initialLogValues with the values we already know (here the bordurs)
-    void fill_initialLogValues();
-
+    
+    /*
+    
     float robot_x_coordinate_in_world(float robot_x, float robot_y);
 
     float robot_y_coordinate_in_world(float robot_x, float robot_y);
     
-    /*
     void print_final_map();
 
     void print_final_map_with_robot_position(float robot_x,float robot_y);

--- a/MiniExplorerCoimbra.cpp	Fri Jun 09 14:30:21 2017 +0000
+++ b/MiniExplorerCoimbra.cpp	Sun Jun 11 22:40:37 2017 +0000
@@ -3,14 +3,14 @@
 
 #define PI 3.14159
 
-MiniExplorerCoimbra::MiniExplorerCoimbra(float defaultX, float defaultY, float defaultTheta):map(200,200,20,20),sonarLeft(10*PI/36,-4,4),sonarFront(0,0,5),sonarRight(-10*PI/36,4,4){
+MiniExplorerCoimbra::MiniExplorerCoimbra(float defaultXWorld, float defaultYWorld, float defaultThetaWorld):map(200,200,20,20),sonarLeft(10*PI/36,-4,4),sonarFront(0,0,5),sonarRight(-10*PI/36,4,4){
     i2c1.frequency(100000);
     initRobot(); //Initializing the robot
     pc.baud(9600); // baud for the pc communication
 
     measure_always_on();//TODO check if needed
 
-    this->setXYTheta(defaultX,defaultY,defaultTheta);
+    this->setXYThetaAndXYThetaWorld(defaultXWorld,defaultYWorld,defaultThetaWorld);
     this->radiusWheels=3.25;
     this->distanceWheels=7.2; 
     
@@ -25,10 +25,26 @@
     this->repulsionConstantForce=1;
 } 
 
-void MiniExplorerCoimbra::setXYTheta(float x, float y, float theta){
-    X=x;
-    Y=y;
-    theta=theta;
+void MiniExplorerCoimbra::setXYThetaAndXYThetaWorld(float defaultXWorld, float defaultYWorld, float defaultThetaWorld){
+    this->xWorld=defaultXWorld;
+    this->yWorld=defaultYWorld;
+    this->thetaWorld=defaultThetaWorld;
+    X=defaultYWorld;
+    Y=-defaultXWorld;
+	if(defaultThetaWorld < -PI/2)
+		theta=PI/2+PI-defaultThetaWorld;
+	else
+		theta=defaultThetaWorld-PI/2;
+}
+
+void MiniExplorerCoimbra::myOdometria(){
+	Odometria();
+	this->xWorld=-Y;
+	this->yWorld=X;
+	if(theta >PI/2)
+		this->thetaWorld=-PI+(theta-PI/2);
+	else
+		this->thetaWorld=theta+PI/2;
 }
 
 //generate a position randomly and makes the robot go there while updating the map
@@ -44,21 +60,21 @@
     if(signOfY  < 1)
         signOfY=-1;
         
-    float targetX = movementOnX*signOfX;
-    float targetY = movementOnY*signOfY;
-    float targetAngle = 2*((float)(rand()%31416)-15708)/10000.0;
-    this->go_to_point_with_angle(targetX, targetY, targetAngle);
+    float targetXWorld = movementOnX*signOfX;
+    float targetYWorld = movementOnY*signOfY;
+    float targetAngleWorld = 2*((float)(rand()%31416)-15708)/10000.0;
+    this->go_to_point_with_angle(targetXWorld, targetYWorld, targetAngleWorld);
 }
 
-//go the the given position while updating the map
-void MiniExplorerCoimbra::go_to_point_with_angle(float targetX, float targetY, float targetAngle) {
-    bool keep_going=true;
+//move of targetXWorld and targetYWorld ending in a targetAngleWorld
+void MiniExplorerCoimbra::go_to_point_with_angle(float targetXWorld, float targetYWorld, float targetAngleWorld) {
+    bool keepGoing=true;
     float leftMm;
     float frontMm; 
     float rightMm;
     float dt;
     Timer t;
-    float d2;
+    float distanceToTarget;
     do {
         //Timer stuff
         dt = t.read();
@@ -66,7 +82,7 @@
         t.start();
         
         //Updating X,Y and theta with the odometry values
-        Odometria();
+        this->myOdometria();
        	leftMm = get_distance_left_sensor();
     	frontMm = get_distance_front_sensor();
     	rightMm = get_distance_right_sensor();
@@ -77,102 +93,56 @@
             rightMotor(1,0);
             this->update_sonar_values(leftMm, frontMm, rightMm);
             //TODO Giorgos maybe you can also test the do_half_flip() function
-            Odometria();
+            this->myOdometria();
             //do a flip TODO
-            keep_going=false;
+            keepGoing=false;
             this->do_half_flip();   
         }else{
             //if not in danger zone continue as usual
             this->update_sonar_values(leftMm, frontMm, rightMm);
 
         	//Updating motor velocities
-            d2=this->update_angular_speed_wheels_go_to_point_with_angle(targetX,targetY,targetAngle,dt);
+            distanceToTarget=this->update_angular_speed_wheels_go_to_point_with_angle(targetXWorld,targetYWorld,targetAngleWorld,dt);
     
             wait(0.2);
             //Timer stuff
             t.stop();
-            pc.printf("\n\r dist to target= %f",d2);
+            pc.printf("\n\r dist to target= %f",distanceToTarget);
         }
-    } while(d2>1 && (abs(targetAngle-theta)>0.01) && keep_going);
+    } while(distanceToTarget>1 && (abs(targetAngleWorld-this->thetaWorld)>0.01) && keepGoing);
 
     //Stop at the end
     leftMotor(1,0);
     rightMotor(1,0);
 }
 
-void MiniExplorerCoimbra::update_sonar_values(float leftMm,float frontMm,float rightMm){
-    float xWorldCell;
-    float yWorldCell;
-    float xRobotWorld=this->get_converted_robot_X_into_world();
-    float yRobotWorld=this->get_converted_robot_Y_into_world();
-    for(int i=0;i<this->map.nbCellWidth;i++){
-        for(int j=0;j<this->map.nbCellHeight;j++){
-        	xWorldCell=this->map.cell_width_coordinate_to_world(i);
-            yWorldCell=this->map.cell_height_coordinate_to_world(j);
-            //compute_probability_t(float distanceObstacleDetected, float x, float y, float[2] robotCoordinatesInWorld)
-        	this->map.update_cell_value(i,j,this->sonarRight.compute_probability_t(rightMm,xWorldCell,yWorldCell,xRobotWorld,yRobotWorld,theta));
-        	this->map.update_cell_value(i,j,this->sonarLeft.compute_probability_t(leftMm,xWorldCell,yWorldCell,xRobotWorld,yWorldCell,theta));
-        	this->map.update_cell_value(i,j,this->sonarFront.compute_probability_t(frontMm,xWorldCell,yWorldCell,xRobotWorld,yWorldCell,theta));
-
-       	}
-    }
-}
-
-float MiniExplorerCoimbra::get_converted_robot_X_into_world(){
-	//x world coordinate
-	return this->map.nbCellWidth*this->map.sizeCellWidth-Y;
-}
-
-float MiniExplorerCoimbra::get_converted_robot_Y_into_world(){
-	//y worldcoordinate
-	return X;
-}
-
-void MiniExplorerCoimbra::do_half_flip(){
-    Odometria();
-    float theta_plus_h_pi=theta+PI/2;//theta is between -PI and PI
-    if(theta_plus_h_pi > PI)
-        theta_plus_h_pi=-(2*PI-theta_plus_h_pi);
-    leftMotor(0,100);
-    rightMotor(1,100);
-    while(abs(theta_plus_h_pi-theta)>0.05){
-        Odometria();
-       // pc.printf("\n\r diff=%f", abs(theta_plus_pi-theta));
-    }
-    leftMotor(1,0);
-    rightMotor(1,0);    
-}
-
-//Distance computation function
-float MiniExplorerCoimbra::dist(float robotX, float robotY, float targetX, float targetY){
-    //pc.printf("%f, %f, %f, %f",robotX,robotY,targetX,targetY);
-    return sqrt(pow(targetY-robotY,2) + pow(targetX-robotX,2));
-}
-
-float MiniExplorerCoimbra::update_angular_speed_wheels_go_to_point_with_angle(float targetX, float targetY, float targetAngle, float dt){
+float MiniExplorerCoimbra::update_angular_speed_wheels_go_to_point_with_angle(float targetXWorld, float targetYWorld, float targetAngleWorld, float dt){
     //compute_angles_and_distance
-    float alpha = atan2((targetY-Y),(targetX-X))-theta;
-    alpha = atan(sin(alpha)/cos(alpha));
-    float rho = this->dist(X, Y, targetX, targetY);
-    float d2 = rho;
-    float beta = -alpha-theta+targetAngle;        
+    //atan2 take the deplacement on x and the deplacement on y as parameters
+    float angleToPoint = atan2((targetYWorld-this->yWorld),(targetXWorld-this->xWorld))-this->thetaWorld;
+    angleToPoint = atan(sin(angleToPoint)/cos(angleToPoint));
+    //rho is the distance to the point of arrival
+    float rho = dist(targetXWorld,targetYWorld,this->xWorld,this->yWorld);
+    float distanceToTarget = rho;
+    //TODO check that
+    float beta = targetAngleWorld-angleToPoint-this->thetaWorld;        
     
     //Computing angle error and distance towards the target value
-    rho += dt*(-this->khro*cos(alpha)*rho);
-    float temp = alpha;
-    alpha += dt*(this->khro*sin(alpha)-this->ka*alpha-this->kb*beta);
+    rho += dt*(-this->khro*cos(angleToPoint)*rho);
+    float temp = angleToPoint;
+    angleToPoint += dt*(this->khro*sin(angleToPoint)-this->ka*angleToPoint-this->kb*beta);
     beta += dt*(-this->khro*sin(temp));
 
     //Computing linear and angular velocities
     float linear;
     float angular;
-    if(alpha>=-1.5708 && alpha<=1.5708){
+    if(angleToPoint>=-1.5708 && angleToPoint<=1.5708){
         linear=this->khro*rho;
-        angular=this->ka*alpha+this->kb*beta;
+        angular=this->ka*angleToPoint+this->kb*beta;
     }
     else{
         linear=-this->khro*rho;
-        angular=-this->ka*alpha-this->kb*beta;
+        angular=-this->ka*angleToPoint-this->kb*beta;
     }
     float angular_left=(linear-0.5*this->distanceWheels*angular)/this->radiusWheels;
     float angular_right=(linear+0.5*this->distanceWheels*angular)/this->radiusWheels;
@@ -190,12 +160,39 @@
     leftMotor(1,angular_left);
     rightMotor(1,angular_right);
     
-    return d2;
+    return distanceToTarget;
 }
 
+void MiniExplorerCoimbra::update_sonar_values(float leftMm,float frontMm,float rightMm){
+    float xWorldCell;
+    float yWorldCell;
+    for(int i=0;i<this->map.nbCellWidth;i++){
+        for(int j=0;j<this->map.nbCellHeight;j++){
+        	xWorldCell=this->map.cell_width_coordinate_to_world(i);
+            yWorldCell=this->map.cell_height_coordinate_to_world(j);
+            //compute_probability_t(float distanceObstacleDetected, float x, float y, float[2] robotCoordinatesInWorld)
+        	this->map.update_cell_value(i,j,this->sonarRight.compute_probability_t(rightMm,xWorldCell,yWorldCell,this->xWorld,this->yWorld,theta));
+        	this->map.update_cell_value(i,j,this->sonarLeft.compute_probability_t(leftMm,xWorldCell,yWorldCell,this->xWorld,yWorldCell,theta));
+        	this->map.update_cell_value(i,j,this->sonarFront.compute_probability_t(frontMm,xWorldCell,yWorldCell,this->xWorld,yWorldCell,theta));
+
+       	}
+    }
+}
+
+//Distance computation function
+float MiniExplorerCoimbra::dist(float x1, float y1, float x2, float y2){
+    return sqrt(pow(y2-y1,2) + pow(x2-x1,2));
+}
+
+//use virtual force field
 void MiniExplorerCoimbra::try_to_reach_target(float targetXWorld,float targetYWorld){
     //atan2 gives the angle beetween PI and -PI
-    float angleToTarget=atan2(targetXWorld,targetYWorld);
+    this->myOdometria();
+    /*
+    float deplacementOnXWorld=targetXWorld-this->xWorld;
+    float deplacementOnYWorld=targetYWorld-this->yWorld;
+    */
+    float angleToTarget=atan2(targetXWorld-this->xWorld,targetYWorld-this->yWorld);
     turn_to_target(angleToTarget);
     bool reached=false;
     int print=0;
@@ -205,15 +202,7 @@
         if(print==10){
             leftMotor(1,0);
             rightMotor(1,0);
-            /*
-            pc.printf("\r\n theta=%f", theta);
-            pc.printf("\r\n IN ORTHO:");
-            pc.printf("\r\n X Robot=%f", this->get_converted_robot_X_into_world());
-            pc.printf("\r\n Y Robot=%f", this->get_converted_robot_Y_into_world());
-            pc.printf("\r\n X Target=%f", targetXWorld);
-            pc.printf("\r\n Y Target=%f", targetYWorld);
-            */
-            this->print_final_map_with_robot_position_and_target(X,Y,targetXWorld,targetYWorld);
+            this->print_final_map_with_robot_position_and_target(targetXWorld,targetYWorld);
             print=0;
         }else
             print+=1;
@@ -230,10 +219,10 @@
     float line_b;
     float line_c;
     //Updating X,Y and theta with the odometry values
-    float forceX=0;
-    float forceY=0;
+    float forceXWorld=0;
+    float forceYWorld=0;
     //we update the odometrie
-    Odometria();
+    this->myOdometria();
     //we check the sensors
     float leftMm = get_distance_left_sensor();
     float frontMm = get_distance_front_sensor();
@@ -241,64 +230,58 @@
     //update the probabilities values 
     this->update_sonar_values(leftMm, frontMm, rightMm);
     //we compute the force on X and Y
-    this->compute_forceX_and_forceY(&forceX, &forceY,targetXWorld,targetYWorld);
+    this->compute_forceX_and_forceY(&forceXWorld, &forceYWorld,targetXWorld,targetYWorld);
     //we compute a new ine
-    this->calculate_line(forceX, forceY, &line_a,&line_b,&line_c);
+    this->calculate_line(forceXWorld, forceYWorld, &line_a,&line_b,&line_c);
     //Updating motor velocities
     this->go_to_line(line_a,line_b,line_c,targetXWorld,targetYWorld);
 
     //wait(0.1);
-    Odometria();
-    if(dist(this->get_converted_robot_X_into_world(),this->get_converted_robot_Y_into_world(),targetXWorld,targetYWorld)<10)
+    this->myOdometria();
+    if(dist(this->xWorld,this->yWorld,targetXWorld,targetYWorld)<10)
         *reached=true;
 }
 
 //compute the force on X and Y
-void MiniExplorerCoimbra::compute_forceX_and_forceY(float* forceX, float* forceY, float targetXWorld, float targetYWorld){
-     float xRobotWorld=this->get_converted_robot_X_into_world();
-     float yRobotWorld=this->get_converted_robot_Y_into_world();
-
+void MiniExplorerCoimbra::compute_forceX_and_forceY(float* forceXWorld, float* forceYWorld, float targetXWorld, float targetYWorld){
      float forceRepulsionComputedX=0;
      float forceRepulsionComputedY=0;
      //for each cell of the map we compute a force of repulsion
      for(int i=0;i<this->map.nbCellWidth;i++){
         for(int j=0;j<this->map.nbCellHeight;j++){
-            this->update_force(i,j,&forceRepulsionComputedX,&forceRepulsionComputedY,xRobotWorld,yRobotWorld);
+            this->update_force(i,j,&forceRepulsionComputedX,&forceRepulsionComputedY);
         }
     }
     //update with attraction force
-    *forceX=+forceRepulsionComputedX;
-    *forceY=+forceRepulsionComputedY;
-    float distanceTargetRobot=sqrt(pow(targetXWorld-xRobotWorld,2)+pow(targetYWorld-yRobotWorld,2));
+    *forceXWorld=+forceRepulsionComputedX;
+    *forceYWorld=+forceRepulsionComputedY;
+    float distanceTargetRobot=sqrt(pow(targetXWorld-this->xWorld,2)+pow(targetYWorld-this->yWorld,2));
     if(distanceTargetRobot != 0){
-        *forceX-=this->attractionConstantForce*(targetXWorld-xRobotWorld)/distanceTargetRobot;
-        *forceY-=this->attractionConstantForce*(targetYWorld-yRobotWorld)/distanceTargetRobot;
+        *forceXWorld-=this->attractionConstantForce*(targetXWorld-this->xWorld)/distanceTargetRobot;
+        *forceYWorld-=this->attractionConstantForce*(targetYWorld-this->yWorld)/distanceTargetRobot;
     }
-    float amplitude=sqrt(pow(*forceX,2)+pow(*forceY,2));
+    float amplitude=sqrt(pow(*forceXWorld,2)+pow(*forceYWorld,2));
     if(amplitude!=0){//avoid division by 0 if forceX and forceY  == 0
-        *forceX=*forceX/amplitude;
-        *forceY=*forceY/amplitude;
+        *forceXWorld=*forceXWorld/amplitude;
+        *forceYWorld=*forceYWorld/amplitude;
     }
 }
 
-void MiniExplorerCoimbra::update_force(int widthIndice, int heightIndice, float* forceX, float* forceY, float xRobotWorld, float yRobotWorld ){
+void MiniExplorerCoimbra::update_force(int widthIndice, int heightIndice, float* forceRepulsionComputedX, float* forceRepulsionComputedY ){
     //get the coordonate of the map and the robot in the ortonormal space
     float xWorldCell=this->map.cell_width_coordinate_to_world(widthIndice);
     float yWorldCell=this->map.cell_height_coordinate_to_world(heightIndice);
-
     //compute the distance beetween the cell and the robot
-    float distanceCellToRobot=sqrt(pow(xWorldCell-xRobotWorld,2)+pow(yWorldCell-yRobotWorld,2));
+    float distanceCellToRobot=sqrt(pow(xWorldCell-this->xWorld,2)+pow(yWorldCell-this->yWorld,2));
     //check if the cell is in range
     if(distanceCellToRobot <= this->rangeForce) {
         float probaCell=this->map.get_proba_cell(widthIndice,heightIndice);
-        float xForceComputed=this->repulsionConstantForce*probaCell*(xWorldCell-xRobotWorld)/pow(distanceCellToRobot,3);
-        float yForceComputed=this->repulsionConstantForce*probaCell*(yWorldCell-yRobotWorld)/pow(distanceCellToRobot,3);
-        *forceX+=xForceComputed;
-        *forceY+=yForceComputed;
+        *forceRepulsionComputedX+=this->repulsionConstantForce*probaCell*(xWorldCell-this->xWorld)/pow(distanceCellToRobot,3);
+        *forceRepulsionComputedY+=this->repulsionConstantForce*probaCell*(yWorldCell-this->yWorld)/pow(distanceCellToRobot,3);
     }
 }
 
-//robotX and robotY are from Odometria, calculate line_a, line_b and line_c
+//robotX and robotY are from this->myOdometria(), calculate line_a, line_b and line_c
 void MiniExplorerCoimbra::calculate_line(float forceX, float forceY, float *line_a, float *line_b, float *line_c){
     /*
     in the teachers maths it is 
@@ -309,7 +292,7 @@
     because a*x+b*y+c=0
     a impact the vertical and b the horizontal
     and he has to put them like this because
-    Robot space:      orthonormal space:
+    Robot space:      World space:
       ^                 ^
       |x                |y
    <- R                 O ->
@@ -319,7 +302,7 @@
     *line_a=forceX;
     *line_b=forceY;
     //because the line computed always pass by the robot center we dont need lince_c
-    //*line_c=forceX*yRobotWorld+forceY*xRobotWorld;    
+    //*line_c=forceX*this->yWorld+forceY*this->xWorld;    
     *line_c=0;
 }
 
@@ -330,41 +313,23 @@
     float linear;
     float angular; 
     
-    bool direction=true;
+    //atan2 use the deplacement on X and the deplacement on Y
+    float angleToTarget=atan2(targetXWorld-this->xWorld,targetYWorld-this->yWorld);
+    bool aligned=false;
+    
+    //this condition is passed if the target is in the same direction as the robot orientation
+   	if((angleToTarget>0 && this->thetaWorld > 0) || (angleToTarget<0 && this->thetaWorld <0))
+    	aligned=true;
     
-    //take as parameter how much the robot is supposed to move on x and y (world)
-    float angleToTarget=atan2(targetXWorld-this->get_converted_robot_X_into_world(),targetYWorld-this->get_converted_robot_Y_into_world());
-    bool inFront=true;
-    if(angleToTarget < 0)//the target is in front
-        inFront=false;
-
-    if(theta > 0){
-        //the robot is oriented to the left
-        if(theta > PI/2){
-            //the robot is oriented lower left
-            if(inFront)
-                direction=false;//robot and target not oriented the same way
-        }else{
-            //the robot is oriented upper left
-            if(!inFront)
-                direction=false;//robot and target not oriented the same way
-        }
-    }else{
-        //the robot is oriented to the right
-        if(theta < -PI/2){
-            //the robot is oriented lower right
-            if(inFront)
-                direction=false;//robot and target not oriented the same way
-        }else{ 
-            //the robot is oriented upper right
-            if(!inFront)
-                direction=false;//robot and target not oriented the same way
-        }
-    }
-    //pc.printf("\r\n Target is in front");
-    
+    //line angle is beetween pi/2 and -pi/2
+    /*
+    ax+by+c=0 (here c==0)
+    y=x*-a/b
+    if a*b > 0, the robot is going down
+    if a*b <0, the robot is going up
+    */	
      if(line_b!=0){
-        if(!direction)
+        if(!aligned)
             lineAngle=atan(-line_a/line_b);
         else
             lineAngle=atan(line_a/-line_b);
@@ -374,7 +339,7 @@
     }
     
     //Computing angle error
-    angleError = lineAngle-theta;
+    angleError = lineAngle-this->thetaWorld;//TODO that I m not sure
     angleError = atan(sin(angleError)/cos(angleError));
 
     //Calculating velocities
@@ -397,28 +362,12 @@
     rightMotor(this->sign2(angularRight),abs(angularRight));
 }
 
-//return 1 if positiv, -1 if negativ
-float MiniExplorerCoimbra::sign1(float value){
-    if(value>=0) 
-        return 1;
-    else 
-        return -1;
-}
-
-//return 1 if positiv, 0 if negativ
-int MiniExplorerCoimbra::sign2(float value){
-    if(value>=0) 
-        return 1;
-    else 
-        return 0;
-}
-
 /*angleToTarget is obtained through atan2 so it s:
 < 0 if the angle is bettween PI and 2pi on a trigo circle
 > 0 if it is between 0 and PI
 */
 void MiniExplorerCoimbra::turn_to_target(float angleToTarget){
-    Odometria();
+    this->myOdometria();
     float theta_plus_h_pi=theta+PI/2;//theta is between -PI and PI
     if(theta_plus_h_pi > PI)
         theta_plus_h_pi=-(2*PI-theta_plus_h_pi);
@@ -430,7 +379,7 @@
         rightMotor(0,1);
     }
     while(abs(angleToTarget-theta_plus_h_pi)>0.05){
-        Odometria();
+        this->myOdometria();
         theta_plus_h_pi=theta+PI/2;//theta is between -PI and PI
          if(theta_plus_h_pi > PI)
             theta_plus_h_pi=-(2*PI-theta_plus_h_pi);
@@ -440,31 +389,23 @@
     rightMotor(1,0);    
 }
 
+void MiniExplorerCoimbra::do_half_flip(){
+    this->myOdometria();
+    float theta_plus_h_pi=theta+PI/2;//theta is between -PI and PI
+    if(theta_plus_h_pi > PI)
+        theta_plus_h_pi=-(2*PI-theta_plus_h_pi);
+    leftMotor(0,100);
+    rightMotor(1,100);
+    while(abs(theta_plus_h_pi-theta)>0.05){
+        this->myOdometria();
+       // pc.printf("\n\r diff=%f", abs(theta_plus_pi-theta));
+    }
+    leftMotor(1,0);
+    rightMotor(1,0);    
+}
 
-/*
-//x and y passed are TargetNotMap
-float get_error_angles(float x, float y,float theta){
-    float angleBeetweenRobotAndTarget=atan2(y,x);
-    if(y > 0){
-        if(angleBeetweenRobotAndTarget < PI/2)//up right
-            angleBeetweenRobotAndTarget=-PI/2+angleBeetweenRobotAndTarget;
-        else//up right
-            angleBeetweenRobotAndTarget=angleBeetweenRobotAndTarget-PI/2;
-    }else{
-        if(angleBeetweenRobotAndTarget > -PI/2)//lower right
-            angleBeetweenRobotAndTarget=angleBeetweenRobotAndTarget-PI/2;
-        else//lower left
-            angleBeetweenRobotAndTarget=2*PI+angleBeetweenRobotAndTarget-PI/2;
-    }
-    return angleBeetweenRobotAndTarget-theta;
-}
-*/
-
-
-void MiniExplorerCoimbra::print_final_map_with_robot_position(float robot_x,float robot_y) {
+void MiniExplorerCoimbra::print_final_map_with_robot_position() {
     float currProba;
-    float Xrobot=this->map.robot_x_coordinate_in_world(robot_x,robot_y);
-    float Yrobot=this->map.robot_y_coordinate_in_world(robot_x,robot_y);
     
     float heightIndiceInOrthonormal;
     float widthIndiceInOrthonormal;
@@ -480,7 +421,7 @@
         for (int x= 0; x<this->map.nbCellWidth; x++) {
             heightIndiceInOrthonormal=this->map.cell_height_coordinate_to_world(y);
             widthIndiceInOrthonormal=this->map.cell_width_coordinate_to_world(x);
-            if(Yrobot >= (heightIndiceInOrthonormal+heightMalus) && Yrobot <= (heightIndiceInOrthonormal+heightBonus) && Xrobot >= (widthIndiceInOrthonormal+widthMalus) && Xrobot <= (widthIndiceInOrthonormal+widthBonus))                    
+            if(this->yWorld >= (heightIndiceInOrthonormal+heightMalus) && this->yWorld <= (heightIndiceInOrthonormal+heightBonus) && this->xWorld >= (widthIndiceInOrthonormal+widthMalus) && this->xWorld <= (widthIndiceInOrthonormal+widthBonus))                    
                 pc.printf(" R ");
             else{
                 currProba=this->map.log_to_proba(this->map.cellsLogValues[x][y]);
@@ -498,10 +439,8 @@
     }
 }
 
-void MiniExplorerCoimbra::print_final_map_with_robot_position_and_target(float robot_x,float robot_y,float targetXWorld, float targetYWorld) {
+void MiniExplorerCoimbra::print_final_map_with_robot_position_and_target(float targetXWorld, float targetYWorld) {
     float currProba;
-    float Xrobot=this->map.robot_x_coordinate_in_world(robot_x,robot_y);
-    float Yrobot=this->map.robot_y_coordinate_in_world(robot_x,robot_y);
     
     float heightIndiceInOrthonormal;
     float widthIndiceInOrthonormal;
@@ -517,7 +456,7 @@
         for (int x= 0; x<this->map.nbCellWidth; x++) {
             heightIndiceInOrthonormal=this->map.cell_height_coordinate_to_world(y);
             widthIndiceInOrthonormal=this->map.cell_width_coordinate_to_world(x);
-            if(Yrobot >= (heightIndiceInOrthonormal+heightMalus) && Yrobot <= (heightIndiceInOrthonormal+heightBonus) && Xrobot >= (widthIndiceInOrthonormal+widthMalus) && Xrobot <= (widthIndiceInOrthonormal+widthBonus))
+            if(this->yWorld >= (heightIndiceInOrthonormal+heightMalus) && this->yWorld <= (heightIndiceInOrthonormal+heightBonus) && this->xWorld >= (widthIndiceInOrthonormal+widthMalus) && this->xWorld <= (widthIndiceInOrthonormal+widthBonus))
                 pc.printf(" R ");
             else{
                 if(targetYWorld >= (heightIndiceInOrthonormal+heightMalus) && targetYWorld <= (heightIndiceInOrthonormal+heightBonus) && targetXWorld >= (widthIndiceInOrthonormal+widthMalus) && targetXWorld <= (widthIndiceInOrthonormal+widthBonus))                    
@@ -557,3 +496,49 @@
         pc.printf("\n\r");
     }
 }
+
+//return 1 if positiv, -1 if negativ
+float MiniExplorerCoimbra::sign1(float value){
+    if(value>=0) 
+        return 1;
+    else 
+        return -1;
+}
+
+//return 1 if positiv, 0 if negativ
+int MiniExplorerCoimbra::sign2(float value){
+    if(value>=0) 
+        return 1;
+    else 
+        return 0;
+}
+
+/*UNUSED
+float MiniExplorerCoimbra::get_converted_robot_X_into_world(){
+	//x world coordinate
+	return this->map.nbCellWidth*this->map.sizeCellWidth-Y;
+}
+
+float MiniExplorerCoimbra::get_converted_robot_Y_into_world(){
+	//y worldcoordinate
+	return X;
+}
+
+
+//x and y passed are TargetNotMap
+float get_error_angles(float x, float y,float theta){
+    float angleBeetweenRobotAndTarget=atan2(y,x);
+    if(y > 0){
+        if(angleBeetweenRobotAndTarget < PI/2)//up right
+            angleBeetweenRobotAndTarget=-PI/2+angleBeetweenRobotAndTarget;
+        else//up right
+            angleBeetweenRobotAndTarget=angleBeetweenRobotAndTarget-PI/2;
+    }else{
+        if(angleBeetweenRobotAndTarget > -PI/2)//lower right
+            angleBeetweenRobotAndTarget=angleBeetweenRobotAndTarget-PI/2;
+        else//lower left
+            angleBeetweenRobotAndTarget=2*PI+angleBeetweenRobotAndTarget-PI/2;
+    }
+    return angleBeetweenRobotAndTarget-theta;
+}
+*/
\ No newline at end of file

--- a/MiniExplorerCoimbra.hpp	Fri Jun 09 14:30:21 2017 +0000
+++ b/MiniExplorerCoimbra.hpp	Sun Jun 11 22:40:37 2017 +0000
@@ -6,18 +6,27 @@
 #include<math.h>
 
 
+
+
 	/*
-Robot coordinate system:      World coordinate system:
-      ^                 				^
-      |x                				|y
-   <--R                 				O-->
-    y                     				 x
+Robot coordinate system:      			World coordinate system:
+      ^                 							^
+      |x                							|y
+   <--R                 							O-->
+    y                     							x
+    
+angles from pi/2 to 3pi/2->0 to pi              angles from 0 to pi->0 to pi 
+angles from pi/2 to -pi/2->0 to -pi				angles from pi to 2pi-> -pi to 0
+
+	The idea is that for every command to the robot we use to world coodinate system 
 */
 
 class MiniExplorerCoimbra {
 	
 	public:
-	
+	float xWorld;
+	float yWorld;
+	float thetaWorld;
 	Map map;
 	Sonar sonarLeft;
 	Sonar sonarFront;
@@ -35,49 +44,40 @@
 	float attractionConstantForce;
 	float repulsionConstantForce;
 
-	MiniExplorerCoimbra(float defaultX, float defaultY, float defaultTheta);
+	MiniExplorerCoimbra(float defaultXWorld, float defaultYWorld, float defaultThetaWorld);
 
-	void setXYTheta(float x, float y, float theta);
+	void setXYThetaAndXYThetaWorld(float defaultXWorld, float defaultYWorld, float defaultThetaWorld);
+	
+	void myOdometria();
 	
 	//generate a position randomly and makes the robot go there while updating the map
 	void randomize_and_map();
 	
-	//go the the given position while updating the map
-	void go_to_point_with_angle(float targetX, float targetY, float targetAngle);
+	//move of targetXWorld and targetYWorld ending in a targetAngleWorld
+	void go_to_point_with_angle(float targetXWorld, float targetYWorld, float targetAngleWorld);
 	
 	void update_sonar_values(float leftMm,float frontMm,float rightMm);
 	
-	float get_converted_robot_X_into_world();
-	
-	float get_converted_robot_Y_into_world();
-	
-	void do_half_flip();
+	//Distance computation function
+	float dist(float x1, float y1, float x2, float y2);
 	
-	//Distance computation function
-	float dist(float robotX, float robotY, float targetX, float targetY);
-	
-	float update_angular_speed_wheels_go_to_point_with_angle(float targetX, float targetY, float targetAngle, float dt);
-	
+	//use virtual force field
 	void try_to_reach_target(float targetXWorld,float targetYWorld);
 	
 	void vff(bool* reached, float targetXWorld, float targetYWorld);
 	
 	//compute the force on X and Y
-	void compute_forceX_and_forceY(float* forceX, float* forceY, float targetXWorld, float targetYWorld);
+	void compute_forceX_and_forceY(float* forceXWorld, float* forceYWorld, float targetXWorld, float targetYWorld);
 	
-	void update_force(int widthIndice, int heightIndice, float* forceX, float* forceY, float xRobotWorld, float yRobotWorld );
+	void update_force(int widthIndice, int heightIndice, float* forceRepulsionComputedX, float* forceRepulsionComputedY );
 	
-	//robotX and robotY are from Odometria, calculate line_a, line_b and line_c
 	void calculate_line(float forceX, float forceY, float *line_a, float *line_b, float *line_c);
 	
 	//currently line_c is not used
 	void go_to_line(float line_a, float line_b, float line_c,float targetXWorld, float targetYWorld);
 	
-	//return 1 if positiv, -1 if negativ
-	float sign1(float value);
 	
-	//return 1 if positiv, 0 if negativ
-	int sign2(float value);
+	float update_angular_speed_wheels_go_to_point_with_angle(float targetXWorld, float targetYWorld, float targetAngleWorld, float dt);
 	
 	/*angleToTarget is obtained through atan2 so it s:
 	< 0 if the angle is bettween PI and 2pi on a trigo circle
@@ -85,11 +85,19 @@
 	*/
 	void turn_to_target(float angleToTarget);
 	
+	void do_half_flip();
+	
+	void print_final_map_with_robot_position();
+	
+	void print_final_map_with_robot_position_and_target(float targetXWorld, float targetYWorld);
+	
 	void print_final_map();
 	
-	void print_final_map_with_robot_position(float robot_x,float robot_y);
+	//return 1 if positiv, -1 if negativ
+	float sign1(float value);
 	
-	void print_final_map_with_robot_position_and_target(float robot_x,float robot_y,float targetXWorld, float targetYWorld);
+	//return 1 if positiv, 0 if negativ
+	int sign2(float value);
 };
 
 

--- a/Sonar.cpp	Fri Jun 09 14:30:21 2017 +0000
+++ b/Sonar.cpp	Sun Jun 11 22:40:37 2017 +0000
@@ -4,8 +4,8 @@
 
 Sonar::Sonar(float angleFromCenter, float distanceXFromRobotCenter, float distanceYFromRobotCenter ){
 	this->angleFromCenter=angleFromCenter;
-	this->distanceX=-distanceYFromRobotCenter;
-	this->distanceY=distanceXFromRobotCenter;
+	this->distanceX=distanceXFromRobotCenter;
+	this->distanceY=distanceYFromRobotCenter;
 	this->maxRange=50;//cm
 	this->minRange=10;//Rmin cm
 	this->incertitudeRange=10;//cm

--- a/Sonar.hpp	Fri Jun 09 14:30:21 2017 +0000
+++ b/Sonar.hpp	Sun Jun 11 22:40:37 2017 +0000
@@ -14,7 +14,7 @@
 	float distanceX;
 	float distanceY;
 	
-
+	//the distance are in the world coordinates
 	Sonar(float anlgeFromCenter, float distanceXFromRobotCenter, float distanceYFromRobotCenter );
 
 	//ODOMETRIA MUST HAVE BEEN CALLED

--- a/main.cpp	Fri Jun 09 14:30:21 2017 +0000
+++ b/main.cpp	Sun Jun 11 22:40:37 2017 +0000
@@ -1,8 +1,6 @@
 #include "MiniExplorerCoimbra.hpp"
 
-#define PI 3.14159
-
 int main(){ 
-    MiniExplorerCoimbra myRobot(0,0,0);   
+    MiniExplorerCoimbra myRobot(0,0,0);
     return 0;
 }