Diff: Odmetry.hpp

Revision:

5:e189d55ef292

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Odmetry.hpp	Fri Jan 28 15:12:04 2022 +0000
@@ -0,0 +1,33 @@
+#ifndef ODMETRY_H
+#define ODMETRY_H
+
+#include "mbed.h"
+#define Co (108 * 3.1415926535897) / 512
+#define PI 3.1415926535897
+
+class Odmetry{
+    public:
+        Odmetry();
+        void pass_pulse(double PULSE1,double PULSE2,double PULSE3,double PULSE4);
+        void pass_angle(double THETA);
+        void print_Pos();
+        
+    private:
+        void Angular();
+        void CalcPosition();
+        void CalcSpd();
+        void transform();
+        
+        double Radius;
+        double Wradius;
+        double Omega[4];
+        double spd[4];
+        double pulse_a[4],pulse_b[4],diff[4];
+        double Xspd,Yspd;
+        double Xpower,Ypower;
+        double XPos,YPos,Theta;
+        double dt;
+};
+
+#endif
+        
\ No newline at end of file