ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

Diff: Odometry/Odometry.h

Revision:
57:ab13f4e7a2b2
Parent:
48:cb3ebbc27db3
Child:
63:fd9af0693e50
--- a/Odometry/Odometry.h	Thu Apr 09 15:54:43 2015 +0000
+++ b/Odometry/Odometry.h	Thu Apr 09 16:46:48 2015 +0000
@@ -36,6 +36,9 @@
             phi_l = (m_distPerTick_left/radius_left)*(delta_left/dt);
             return phi_l;
         }
+        
+        float getVitLeft() {return m_vitLeft;}
+        float getVitRight() {return m_vitRight;}
     
     private:
         QEI* m_qei_left;
@@ -48,6 +51,7 @@
         float radius_right;
         
         float x, y, theta;
+        float m_vitLeft, m_vitRight;
         float offsetVx, offsetVy;
         bool initoffset;
         float Vx,Vy,W;