Diff: Odometry/Odometry.cpp

Revision:

0:b127c787a51b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Odometry/Odometry.cpp	Sun May 24 12:30:47 2015 +0000
@@ -0,0 +1,80 @@
+/**
+ * @author BERTELONE Benjamin
+ *
+ * @section DESCRIPTION
+ * 
+ */
+
+#include "Odometry.h"
+#include "defines.h"
+
+extern Serial logger;
+
+
+Odometry::Odometry(QEI *qei_left, QEI *qei_right, float radius_left, float radius_right, float v)
+{
+    m_qei_left = qei_left;
+    m_qei_right = qei_right;
+    m_v = v;
+    
+    m_distPerTick_left = radius_left/qei_left->getPulsesPerRev()*2*PI;
+    m_distPerTick_right = radius_right/qei_right->getPulsesPerRev()*2*PI;
+    
+    m_pulses_left = qei_left->getPulses();
+    m_pulses_right = qei_right->getPulses();
+    
+    
+    // Vitesse du moteur gauche et droit
+    m_vitLeft = 0;
+    m_vitRight = 0;
+}
+
+void Odometry::setPos(float x, float y, float theta)
+{
+    this->x = x;
+    this->y = y;
+    this->theta = theta;
+}
+
+void Odometry::setX(float x)
+{
+    this->x = x;
+}
+
+void Odometry::setY(float y)
+{
+    this->y = y;
+}
+
+void Odometry::setTheta(float theta)
+{
+    this->theta = theta;
+}
+
+void Odometry::update(float dt)
+{
+    int delta_left = m_qei_left->getPulses() - m_pulses_left;
+    m_pulses_left = m_qei_left->getPulses();
+    int delta_right = m_qei_right->getPulses() - m_pulses_right;
+    m_pulses_right = m_qei_right->getPulses();
+    
+    m_distLeft = m_pulses_left*m_distPerTick_left;
+    m_distRight = m_pulses_right*m_distPerTick_right;
+    
+    m_vitLeft = m_distPerTick_left*delta_left/dt;
+    m_vitRight = m_distPerTick_right*delta_right/dt;
+    
+    float deltaS = (m_distPerTick_left*delta_left + m_distPerTick_right*delta_right) / 2.0f;
+    float deltaTheta = atan((m_distPerTick_right*delta_right - m_distPerTick_left*delta_left) / m_v);
+    
+    float dx = deltaS*cos(theta);
+    float dy = deltaS*sin(theta);
+    
+    x += dx;
+    y += dy;
+    theta += deltaTheta;
+    
+    while(theta > PI) theta -= 2*PI;
+    while(theta <= -PI) theta += 2*PI;
+}
+