ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

Odometry/Odometry2.h@79:d97090bb6470, 2015-04-14 (annotated)

Committer:
sype
Date:
Tue Apr 14 18:27:53 2015 +0000
Revision:
79:d97090bb6470
Parent:
72:b2a128486332
Child:
85:8e95432d99d3
PID posey

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jagang 71:95d76c181b22 1 #ifndef ODOMETRY2_H
Jagang 71:95d76c181b22 2 #define ODOMETRY2_H
Jagang 71:95d76c181b22 3
Jagang 71:95d76c181b22 4 #include "mbed.h"
Jagang 71:95d76c181b22 5 #include "QEI.h"
Jagang 71:95d76c181b22 6
Jagang 71:95d76c181b22 7 class Odometry2
Jagang 71:95d76c181b22 8 {
Jagang 71:95d76c181b22 9 public:
Jagang 71:95d76c181b22 10 Odometry2(QEI *qei_left, QEI *qei_right, float radius_left, float radius_right, float v);
Jagang 71:95d76c181b22 11
Jagang 71:95d76c181b22 12 void setPos(float x, float y, float theta);
Jagang 71:95d76c181b22 13 void setX(float x);
sype 79:d97090bb6470 14 void setY(float y);
Jagang 71:95d76c181b22 15 void setTheta(float theta);
Jagang 71:95d76c181b22 16
Jagang 71:95d76c181b22 17 float getX() {return x;}
Jagang 71:95d76c181b22 18 float getY() {return y;}
Jagang 72:b2a128486332 19 float getTheta() {return theta;} // ]-PI;PI]
Jagang 71:95d76c181b22 20
Jagang 71:95d76c181b22 21 float getVitLeft() {return m_vitLeft;}
Jagang 71:95d76c181b22 22 float getVitRight() {return m_vitRight;}
Jagang 71:95d76c181b22 23
Jagang 71:95d76c181b22 24 void update(float dt);
Jagang 71:95d76c181b22 25
Jagang 71:95d76c181b22 26 private:
Jagang 71:95d76c181b22 27 QEI* m_qei_left;
Jagang 71:95d76c181b22 28 int m_pulses_left;
Jagang 71:95d76c181b22 29 QEI* m_qei_right;
Jagang 71:95d76c181b22 30 int m_pulses_right;
Jagang 71:95d76c181b22 31
Jagang 71:95d76c181b22 32 float x, y, theta;
Jagang 71:95d76c181b22 33 float m_vitLeft, m_vitRight;
Jagang 71:95d76c181b22 34
Jagang 71:95d76c181b22 35 float m_distPerTick_left, m_distPerTick_right, m_v;
Jagang 71:95d76c181b22 36 };
Jagang 71:95d76c181b22 37
Jagang 71:95d76c181b22 38 #endif