ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

Diff: Odometry/Odometry.cpp

Revision:
57:ab13f4e7a2b2
Parent:
48:cb3ebbc27db3
Child:
63:fd9af0693e50
--- a/Odometry/Odometry.cpp	Thu Apr 09 15:54:43 2015 +0000
+++ b/Odometry/Odometry.cpp	Thu Apr 09 16:46:48 2015 +0000
@@ -35,6 +35,10 @@
     offsetVx = 0.0;
     offsetVy = 0.0;
     
+    // Vitesse du moteur gauche et droit
+    m_vitLeft = 0;
+    m_vitRight = 0;
+    
     updater.attach(this, &Odometry::update, dt);
 }
 
@@ -90,6 +94,9 @@
     delta_right = m_qei_right->getPulses() - m_pulses_right;
     m_pulses_right = m_qei_right->getPulses();
     
+    m_vitLeft = m_distPerTick_left*delta_left/dt;
+    m_vitLeft = m_distPerTick_right*delta_right/dt;
+    
     float deltaS = (m_distPerTick_left*delta_left + m_distPerTick_right*delta_right) / 2.0;
     float deltaTheta = (m_distPerTick_right*delta_right - m_distPerTick_left*delta_left) / m_v;