Revision f1d13b04 devices/DiWheelDrive/amiro_map.cpp
| devices/DiWheelDrive/amiro_map.cpp | ||
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uint8_t AmiroMap::getNearest(types::position *p1) {
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uint8_t actualStrategy = this->lfStrategy == EDGE_LEFT ? 1 : 2; |
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uint32_t thresh = 1; // TODO: find good thresh value in cm
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uint32_t thresh = global->nodeDistThresh; // TODO: find good thresh value in cm
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uint8_t id = 255; |
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uint32_t smallestDist = thresh; |
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uint8_t currentStrategy; |
| ... | ... | |
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nodeList[id].visited |= state.strategy; |
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return id; |
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} |
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void AmiroMap::reset(){
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this->nodeCount = 0; |
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this->state.current = 0; |
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this->state.next= 0; |
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} |
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