Diff: Odometry/Odometry.h

Revision:

30:33e970ba1fe5

Parent:

0:41149573d577

--- a/Odometry/Odometry.h	Mon Jan 26 22:40:37 2015 +0000
+++ b/Odometry/Odometry.h	Sun Feb 01 19:29:14 2015 +0000
@@ -10,6 +10,7 @@
         Odometry(QEI *qei_left, QEI *qei_right, float radius_left, float radius_right, float v);
         
         void setPos(float x, float y, float theta);
+        void setVit(float Vx, float Vy, float W);
         void setX(float x);
         void setY(float Y);
         void setTheta(float theta);
@@ -19,6 +20,10 @@
         float getTheta() {return theta;}
         
         void reset();
+        
+        float getVx()   {return Vx;}
+        float getVy()   {return Vy;}
+        float getW()   {return W;}
     
     private:
         QEI* m_qei_left;
@@ -27,6 +32,9 @@
         int m_pulses_right;
         
         float x, y, theta;
+        float Vx,Vy,W;
+        float dt;
+        Timer timer;
         
         float m_radiusPerTick_left, m_radiusPerTick_right, m_v;