iii

state_machine.m

 d2r = 180/pi;
+fs = 24414;
 th_az = 5; % Degrees
 step_distance = 0.1; % meters
 th_dist = 0.78;
 
+icvec = zeros(100,1);
 % sendPosition.moveRelativePosition('map', moveFront, moveLeft, rotateClockwise);
 
-
+it = 1;
 while(true)
     
     pause(0.01)
@@ -21,6 +23,8 @@ while(true)
     
     % The angle to the source is small enough, take a step forward
     [there, ic] = get_distance(audio, th_dist, 0);
+    icvec(it) = ic;
+    it = it + 1;
     
     if ~there
         sendPosition.moveRelativePosition('map', step_distance, 0, 0);