ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

Diff: Odometry/Odometry.cpp

Revision:
48:cb3ebbc27db3
Parent:
47:4909e97570f6
Child:
57:ab13f4e7a2b2
--- a/Odometry/Odometry.cpp	Thu Mar 26 18:04:23 2015 +0000
+++ b/Odometry/Odometry.cpp	Fri Mar 27 19:49:22 2015 +0000
@@ -29,7 +29,7 @@
     setPos(0,0,0);
     setVit(0,0,0);
     setVitPhi(0,0);
-    dt = 0.01;
+    dt = 0.05;
     
     initoffset = false;
     offsetVx = 0.0;
@@ -110,12 +110,12 @@
         offsetVx = dx/dt;
         offsetVy = dy/dt;
         initoffset = true;
-        logger.printf("offset Vx = %f \t offset Vy = %f \r\n", offsetVx, offsetVy);
+        //logger.printf("offset Vx = %f \t offset Vy = %f \r\n", offsetVx, offsetVy);
     }
     
     Vx = dx/dt-offsetVx;
     Vy = dy/dt-offsetVy;
-    W = deltaTheta/dt;        
+    W = deltaTheta/dt;            
     
     //timer.stop();
     //timer.reset();