ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

Odometry/Odometry.h@1:c8dc3dee3b70, 2014-09-28 (annotated)

Committer:
Jagang
Date:
Sun Sep 28 20:02:02 2014 +0000
Revision:
1:c8dc3dee3b70
Parent:
0:41149573d577
Child:
2:7cb27dbf1b5b
.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jagang 1:c8dc3dee3b70 1 /**
Jagang 1:c8dc3dee3b70 2 * @author BERTELONE Benjamin
Jagang 1:c8dc3dee3b70 3 *
Jagang 1:c8dc3dee3b70 4 * @section DESCRIPTION
Jagang 1:c8dc3dee3b70 5 * Odometry Interface
Jagang 1:c8dc3dee3b70 6 */
Jagang 1:c8dc3dee3b70 7
Jagang 1:c8dc3dee3b70 8
Jagang 1:c8dc3dee3b70 9
Jagang 0:41149573d577 10 #ifndef ODOMETRY_H
Jagang 0:41149573d577 11 #define ODOMETRY_H
Jagang 0:41149573d577 12
Jagang 0:41149573d577 13 #include "mbed.h"
Jagang 0:41149573d577 14 #include "QEI.h"
Jagang 0:41149573d577 15
Jagang 0:41149573d577 16 class Odometry
Jagang 0:41149573d577 17 {
Jagang 0:41149573d577 18 public:
Jagang 0:41149573d577 19 Odometry(QEI *qei_left, QEI *qei_right, float radius_left, float radius_right, float v);
Jagang 0:41149573d577 20
Jagang 0:41149573d577 21 void setPos(float x, float y, float theta);
Jagang 0:41149573d577 22 void setX(float x);
Jagang 0:41149573d577 23 void setY(float Y);
Jagang 0:41149573d577 24 void setTheta(float theta);
Jagang 0:41149573d577 25
Jagang 0:41149573d577 26 float getX() {return x;}
Jagang 0:41149573d577 27 float getY() {return y;}
Jagang 0:41149573d577 28 float getTheta() {return theta;}
Jagang 0:41149573d577 29
Jagang 0:41149573d577 30 void reset();
Jagang 0:41149573d577 31
Jagang 0:41149573d577 32 private:
Jagang 0:41149573d577 33 QEI* m_qei_left;
Jagang 0:41149573d577 34 int m_pulses_left;
Jagang 0:41149573d577 35 QEI* m_qei_right;
Jagang 0:41149573d577 36 int m_pulses_right;
Jagang 0:41149573d577 37
Jagang 0:41149573d577 38 float x, y, theta;
Jagang 0:41149573d577 39
Jagang 0:41149573d577 40 float m_radiusPerTick_left, m_radiusPerTick_right, m_v;
Jagang 0:41149573d577 41
Jagang 0:41149573d577 42 Ticker updater;
Jagang 0:41149573d577 43
Jagang 0:41149573d577 44 void update();
Jagang 0:41149573d577 45 };
Jagang 0:41149573d577 46
Jagang 0:41149573d577 47 #endif