Team Virgo v3 / Orion_newPCB_test_LV

Implement new controller

Dependencies:   mbed-rtos mbed QEI BNO055 MPU6050_DMP_Nucleo-I2Cdev virgo3_imuHandler_Orion_PCB MAX17048 Servo

Fork of Orion_newPCB_test by Team Virgo v3

Diff: 02_Localization/localization.h

Revision:
11:49344285c82a
Child:
16:9a227791998a
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/02_Localization/localization.h	Sun Apr 24 23:54:50 2016 +0000
@@ -0,0 +1,25 @@
+#ifndef localization_H
+#define localization_H
+
+#include "mbed.h"
+#include "generalFunctions.h"
+#include "config.h"
+
+
+class localization
+{
+public:
+    localization();
+    float position[2];
+    void updatePosition(float heading, float wheel_revolutions[2]); //heading in rad
+    void setPosition(float position_in[2]); //[x,y] position
+    
+private:
+    float prevRevolutions[2]; //store previous iteration's revolutions
+    float wheelDia;
+    float trackWidth;
+    float incrementalDistance;
+};
+
+
+#endif
\ No newline at end of file