Diff: Odometry/Odometry.h

Revision:

3:62e9d715de65

Parent:

2:abdf8c6823a1

Child:

6:f54df7542988

--- a/Odometry/Odometry.h	Tue Nov 24 15:02:01 2015 +0000
+++ b/Odometry/Odometry.h	Tue Nov 24 21:42:10 2015 +0000
@@ -25,7 +25,7 @@
         
         void GotoXYT(double x_goal, double y_goal, double theta_goal);
         void GotoThet(double theta_);
-        void GotoB(double distance);
+        void GotoDist(double distance);
         
         double getX() {return x;}
         double getY() {return y;}
@@ -49,16 +49,16 @@
         void update_odo(void);
         double calcul_distance(double x, double y, double theta_goal);
         
-        long getPulsesLeft(void) {return m_pulses_left;}
-        long getPulsesRight(void) {return m_pulses_right;}
+        int32_t getPulsesLeft(void) {return m_pulses_left;}
+        int32_t getPulsesRight(void) {return m_pulses_right;}
         double carre(double a) {return a*a;}
         
         bool isArrivedRot(double theta_);
     
     private:
         RoboClaw &roboclaw;
-        long m_pulses_left;
-        long m_pulses_right;
+        int32_t m_pulses_left;
+        int32_t m_pulses_right;
         
         double x, y, theta;
         double m_vitLeft, m_vitRight;