Diff: Odometry/Odometry.h

Revision:

89:d05001d85a02

Parent:

63:fd9af0693e50

--- a/Odometry/Odometry.h	Sat Apr 18 08:40:24 2015 +0000
+++ b/Odometry/Odometry.h	Thu Apr 23 16:29:31 2015 +0000
@@ -4,6 +4,8 @@
 #include "mbed.h"
 #include "QEI.h"
 
+extern Serial logger;
+
 class Odometry
 {
     public:
@@ -27,13 +29,15 @@
         float getW()   {return W;}
         float getPhiright()
         {
-            phi_r = (m_distPerTick_right/radius_right)*(delta_right/dt);            
+            phi_r = (m_distPerTick_right/radius_right)*(delta_right/dt);             
+            //logger.printf("phi r = %f \r\n", phi_r);
             return phi_r;
         }
         
         float getPhileft() 
         {
-            phi_l = (m_distPerTick_left/radius_left)*(delta_left/dt);
+            phi_l = (m_distPerTick_left/radius_left)*(delta_left/dt);            
+            //logger.printf("phi  = %f \r\n", phi_l);
             return phi_l;
         }
         
@@ -52,13 +56,13 @@
         float radius_left;
         float radius_right;
         
-        float x, y, theta;
-        float m_vitLeft, m_vitRight;
-        float offsetVx, offsetVy;
+        volatile float x, y, theta;
+        volatile float m_vitLeft, m_vitRight;
+        volatile float offsetVx, offsetVy;
         bool initoffset;
-        float Vx,Vy,W;
-        float phi_r,phi_l;
-        float dt;
+        volatile float Vx,Vy,W;
+        volatile float phi_r,phi_l;
+        volatile float dt;
         Timer timer;
         
         float m_distPerTick_left, m_distPerTick_right, m_v;