File content as of revision 0:ad9600df4a70:

#include "Odometry.h"

Serial pc(USBTX, USBRX);

// M1 = Moteur droit, M2 = Moteur gauche

RoboClaw roboclaw(115200, PA_11, PA_12);

Odometry::Odometry(double diameter_right, double diameter_left, double v)
{
    pc.baud(115200);
    pc.printf("Hello world\n\r");
    roboclaw.ResetEnc(ADR);
    m_v = v;
    m_distPerTick_left = diameter_left*PI/37400;
    m_distPerTick_right = diameter_right*PI/37400;
    
    m_pulses_right = 0;
    m_pulses_left = 0;
}

void Odometry::setPos(double x, double y, double theta)
{
    this->x = x;
    this->y = y;
    this->theta = theta;
}

void Odometry::setX(double x)
{
    this->x = x;
}

void Odometry::setY(double y)
{
    this->y = y;
}

void Odometry::setTheta(double theta)
{
    this->theta = theta;
}

void Odometry::update_odo(void)
{
    long delta_right = roboclaw.ReadEncM1(ADR) - m_pulses_right;
    m_pulses_right = roboclaw.ReadEncM1(ADR);
    long delta_left = roboclaw.ReadEncM2(ADR) - m_pulses_left;
    m_pulses_left = roboclaw.ReadEncM2(ADR);
    
    double deltaS = (m_distPerTick_left*delta_left + m_distPerTick_right*delta_right) / 2.0f;
    double deltaTheta = (m_distPerTick_right*delta_right - m_distPerTick_left*delta_left) / m_v;
    
    double dx = deltaS*cos(theta);
    double dy = deltaS*sin(theta);
    
    x += dx;
    y += dy;
    theta += deltaTheta;
    
    while(theta > PI) theta -= 2*PI;
    while(theta <= -PI) theta += 2*PI;
}

void Odometry::GotoXYT(double x_goal, double y_goal, double theta_goal)
{
    double theta_ = atan2(y_goal-y, x_goal-x);
    double distance_ticks_left = (theta_*m_v/2)/m_distPerTick_left;
    double distance_ticks_right = (theta_*m_v/2)/m_distPerTick_right;
    pc.printf("Theta : %3.2f\tDL : %6.2f\tDR : %6.2f\n\r",theta_*180/PI,distance_ticks_left, distance_ticks_right);
    //roboclaw.SpeedAccelDeccelPositionM1(ADR, 300000, 150000, 300000, distance_ticks_right, 1);
    //roboclaw.SpeedAccelDeccelPositionM2(ADR, 300000, 150000, 300000, distance_ticks_left, 1);
}