Diff: Odometry/Odometry.cpp

Revision:

63:fd9af0693e50

Parent:

57:ab13f4e7a2b2

Child:

71:95d76c181b22

--- a/Odometry/Odometry.cpp	Thu Apr 09 17:05:06 2015 +0000
+++ b/Odometry/Odometry.cpp	Thu Apr 09 17:32:36 2015 +0000
@@ -39,7 +39,7 @@
     m_vitLeft = 0;
     m_vitRight = 0;
     
-    updater.attach(this, &Odometry::update, dt);
+    //updater.attach(this, &Odometry::update, dt);
 }
 
 void Odometry::setPos(float x, float y, float theta)
@@ -87,7 +87,7 @@
     initoffset = false;
 }
 
-void Odometry::update()
+void Odometry::update(float dt)
 {
     delta_left = m_qei_left->getPulses() - m_pulses_left;
     m_pulses_left = m_qei_left->getPulses();
@@ -95,7 +95,7 @@
     m_pulses_right = m_qei_right->getPulses();
     
     m_vitLeft = m_distPerTick_left*delta_left/dt;
-    m_vitLeft = m_distPerTick_right*delta_right/dt;
+    m_vitRight = 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;