Diff: Odometry/Odometry.cpp

Revision:

0:85567bbcebdb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Odometry/Odometry.cpp	Sun Dec 14 17:49:01 2014 +0000
@@ -0,0 +1,79 @@
+/**
+ * @author BERTELONE Benjamin
+ *
+ * @section DESCRIPTION
+ * 
+ */
+
+#include "Odometry.h"
+
+Serial pc(USBTX, USBRX); // tx, rx
+
+
+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_radiusPerTick_left = radius_left/qei_left->getPulsesPerRev();
+    m_radiusPerTick_right = radius_right/qei_right->getPulsesPerRev();
+    m_v = v;
+    
+    m_pulses_left = qei_left->getPulses();
+    m_pulses_right = qei_right->getPulses();
+    
+    setPos(0,0,0);
+    
+    updater.attach(this, &Odometry::update, 0.5);
+}
+
+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::reset()
+{
+    setPos(0,0,0);
+    m_pulses_left = m_qei_left->getPulses();
+    m_pulses_right = m_qei_right->getPulses();
+}
+
+void Odometry::update()
+{
+    DigitalOut myled(LED1);
+    myled = 1;
+    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();
+    
+    float deltaS = (m_radiusPerTick_left*delta_left + m_radiusPerTick_right*delta_right) / 2.0;
+    float deltaTheta = (m_radiusPerTick_right*delta_right - m_radiusPerTick_left*delta_left) / m_v;
+    
+    x += deltaS*cos(theta);
+    y += deltaS*sin(theta);
+    theta += deltaTheta;
+    myled = 0;
+}
+
+
+
+   
+    
\ No newline at end of file