reckoner.h

00001 #pragma once
00002 
00003 class Reckoner
00004 {
00005     public:
00006     
00007     Reckoner();
00008     
00009     // Together, cos and sin form a vector with a magnitude close to 2^30 that indicates
00010     // the current position of the robot.
00011     // cos corresponds to the x component of the orientation vector.
00012     // sin corresponds to the y component of the orientation vector.
00013     int32_t cosv, sinv;
00014     
00015     // Together, x and y are a vector that points from the starting point to the
00016     // robot's current position.
00017     // The untis are Df / (1<<14), where Df is the distance the robot moves forward
00018     // or backwards due to a single encoder tick.
00019     int32_t x, y;
00020 
00021     void reset();
00022 
00023     void handleTickLeftForward();
00024     void handleTickLeftBackward();
00025     void handleTickRightForward();
00026     void handleTickRightBackward();
00027     void handleForward();
00028     void handleBackward();
00029     void handleRight();
00030     void handleLeft();
00031     void handleTurnRadians(int32_t radians);
00032     void setTurnAngle(int32_t angle);
00033 };