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

02_Localization/localization.h

Committer:
akashvibhute
Date:
2016-01-25
Revision:
5:099cb2e76c7d
Parent:
2:761e3c932ce0

File content as of revision 5:099cb2e76c7d:

#ifndef localization_H
#define localization_H

#include "mbed.h"
#include "generalFunctions.h"
#include "config.h"


class localization
{
public:
    localization();
    void getPosition(float *position_out[2], float heading, float revolutions[2]); //[x,y] position, heading in rad
    void setPosition(float position_in[2]); //[x,y] position
    
private:
    float position[2];
    float prevRevolutions[2]; //store previous iteration's revolutions
    float wheelDia;
    float trackWidth;
    float incrementalDistance;
};


#endif