Team Virgo v3 / Orion_newPCB_test_LV

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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@30:44676e1b38f8, 2018-03-20 (annotated)

Committer:
ahmed_lv
Date:
Tue Mar 20 05:56:22 2018 +0000
Revision:
30:44676e1b38f8
Parent:
16:9a227791998a 
Editted Input Variables to PID

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 11:49344285c82a 1 #ifndef localization_H
akashvibhute 11:49344285c82a 2 #define localization_H
akashvibhute 11:49344285c82a 3
akashvibhute 11:49344285c82a 4 #include "mbed.h"
akashvibhute 11:49344285c82a 5 #include "generalFunctions.h"
akashvibhute 11:49344285c82a 6 #include "config.h"
akashvibhute 11:49344285c82a 7
akashvibhute 11:49344285c82a 8
akashvibhute 16:9a227791998a 9 class Localization
akashvibhute 11:49344285c82a 10 {
akashvibhute 11:49344285c82a 11 public:
akashvibhute 16:9a227791998a 12 Localization();
akashvibhute 11:49344285c82a 13 float position[2];
akashvibhute 11:49344285c82a 14 void updatePosition(float heading, float wheel_revolutions[2]); //heading in rad
akashvibhute 11:49344285c82a 15 void setPosition(float position_in[2]); //[x,y] position
akashvibhute 11:49344285c82a 16
akashvibhute 11:49344285c82a 17 private:
akashvibhute 11:49344285c82a 18 float prevRevolutions[2]; //store previous iteration's revolutions
akashvibhute 11:49344285c82a 19 float wheelDia;
akashvibhute 11:49344285c82a 20 float trackWidth;
akashvibhute 11:49344285c82a 21 float incrementalDistance;
akashvibhute 11:49344285c82a 22 };
akashvibhute 11:49344285c82a 23
akashvibhute 11:49344285c82a 24
akashvibhute 11:49344285c82a 25 #endif