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:
ahmed_lv
Date:
2018-03-20
Revision:
30:44676e1b38f8
Parent:
16:9a227791998a

File content as of revision 30:44676e1b38f8:

#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