Diff: Robot.h

Revision:

0:f45212966fb1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Robot.h	Mon Feb 18 13:13:34 2019 +0000
@@ -0,0 +1,33 @@
+class Robot {
+    private:
+    float robotAngularVelocity;
+    float robotTranslationalVeocity;
+    Wheel* leftWheel;
+    Wheel* rightWheel;
+    float static const distanceBetweenWheels = 0.19;
+    
+    public:
+    Robot(Wheel* LW, Wheel* RW) {
+        leftWheel = LW;
+        rightWheel= RW;
+        
+        robotTranslationalVeocity = (lTemp + rTemp)/2;
+        };
+    
+    void turn(float angularVelocity){//positive value is right, negative value is left
+        
+        };
+        
+    void calculateTranslationalVelocity(){
+        robotTranslationalVeocity = (LW->calculateAngularVelocity() + RW->calculateAngularVelocity();)/2;
+        }
+        
+    void calculateAngularVelocity(){
+        robotAngularVelocity = (LW->calculateAngularVelocity() - RW->calculateAngularVelocity())/distanceBetweenWheels;
+        }
+    
+    void Turn(float degrees){
+        
+        }
+    
+    };
\ No newline at end of file