ouais ok
Dependents: roboticLab_withclass_3_July
Fork of ISR_Mini-explorer by
Diff: robot.h
- Revision:
- 1:b81277897a5b
- Parent:
- 0:15a30802e719
- Child:
- 2:92ca9a6a1d4e
--- a/robot.h Thu Feb 02 12:21:11 2017 +0000 +++ b/robot.h Fri Jul 07 11:49:22 2017 +0000 @@ -20,6 +20,7 @@ #include "nRF24L01P.h" void Odometria(); +void OdometriaKalman(float* R_cm, float* L_cm); // classes adicionais nRF24L01P my_nrf24l01p(PTD2, PTD3, PTD1, PTC13, PTC12, PTA13); @@ -1024,4 +1025,20 @@ X += CM*cos(theta); Y += CM*sin(theta); +} + +void OdometriaKalman(float* R_cm, float* L_cm) +{ + long int ticks1d=R_encoder(); + long int ticks1e=L_encoder(); + + long int D_ticks=ticks1d - ticks2d; + long int E_ticks=ticks1e - ticks2e; + + ticks2d=ticks1d; + ticks2e=ticks1e; + + *R_cm= (float)D_ticks*((3.25*3.1415)/4096); + *L_cm= (float)E_ticks*((3.25*3.1415)/4096); + } \ No newline at end of file