Diff: Odometry/Odometry2.h

Revision:

102:588951d1e868

Parent:

94:5c37bcf73d14

diff -r 78dc61bd330d -r 588951d1e868 Odometry/Odometry2.h
--- a/Odometry/Odometry2.h	Thu Apr 30 16:23:15 2015 +0000
+++ b/Odometry/Odometry2.h	Thu Apr 30 16:25:16 2015 +0000
@@ -21,7 +21,16 @@
         float getVitLeft() {return m_vitLeft;}
         float getVitRight() {return m_vitRight;}
         
+        float getDistLeft() {return m_distLeft;}
+        float getDistRight() {return m_distRight;}
+        
+        void setDistLeft(float dist) {m_distLeft = dist;}
+        void setDistRight(float dist) {m_distRight = dist;}
+        
         void update(float dt);
+        
+        int getPulsesLeft(void) {return m_pulses_left;}
+        int getPulsesRight(void) {return m_pulses_right;}
     
     private:
         QEI* m_qei_left;
@@ -31,6 +40,7 @@
         
         float x, y, theta;
         float m_vitLeft, m_vitRight;
+        float m_distLeft, m_distRight;
         
         float m_distPerTick_left, m_distPerTick_right, m_v;
 };