ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

Odometry/Odometry.h@0:41149573d577, 2014-09-28 (annotated)

Committer:
Jagang
Date:
Sun Sep 28 19:53:31 2014 +0000
Revision:
0:41149573d577
Child:
1:c8dc3dee3b70
Child:
30:33e970ba1fe5
New

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jagang 0:41149573d577 1 #ifndef ODOMETRY_H
Jagang 0:41149573d577 2 #define ODOMETRY_H
Jagang 0:41149573d577 3
Jagang 0:41149573d577 4 #include "mbed.h"
Jagang 0:41149573d577 5 #include "QEI.h"
Jagang 0:41149573d577 6
Jagang 0:41149573d577 7 class Odometry
Jagang 0:41149573d577 8 {
Jagang 0:41149573d577 9 public:
Jagang 0:41149573d577 10 Odometry(QEI *qei_left, QEI *qei_right, float radius_left, float radius_right, float v);
Jagang 0:41149573d577 11
Jagang 0:41149573d577 12 void setPos(float x, float y, float theta);
Jagang 0:41149573d577 13 void setX(float x);
Jagang 0:41149573d577 14 void setY(float Y);
Jagang 0:41149573d577 15 void setTheta(float theta);
Jagang 0:41149573d577 16
Jagang 0:41149573d577 17 float getX() {return x;}
Jagang 0:41149573d577 18 float getY() {return y;}
Jagang 0:41149573d577 19 float getTheta() {return theta;}
Jagang 0:41149573d577 20
Jagang 0:41149573d577 21 void reset();
Jagang 0:41149573d577 22
Jagang 0:41149573d577 23 private:
Jagang 0:41149573d577 24 QEI* m_qei_left;
Jagang 0:41149573d577 25 int m_pulses_left;
Jagang 0:41149573d577 26 QEI* m_qei_right;
Jagang 0:41149573d577 27 int m_pulses_right;
Jagang 0:41149573d577 28
Jagang 0:41149573d577 29 float x, y, theta;
Jagang 0:41149573d577 30
Jagang 0:41149573d577 31 float m_radiusPerTick_left, m_radiusPerTick_right, m_v;
Jagang 0:41149573d577 32
Jagang 0:41149573d577 33 Ticker updater;
Jagang 0:41149573d577 34
Jagang 0:41149573d577 35 void update();
Jagang 0:41149573d577 36 };
Jagang 0:41149573d577 37
Jagang 0:41149573d577 38 #endif