自己位置推定機能を追加
Dependencies: SBDBT arrc_mbed BNO055
Diff: Odmetry.cpp
- Revision:
- 7:a0b9b6e71e41
- Parent:
- 2:e189d55ef292
diff -r 7e5af94f994d -r a0b9b6e71e41 Odmetry.cpp --- a/Odmetry.cpp Fri Jan 28 15:13:35 2022 +0000 +++ b/Odmetry.cpp Wed Feb 23 03:03:36 2022 +0000 @@ -57,4 +57,10 @@ YPos += Yspd * dt; } -void Odmetry::print_Pos(){ printf("XPos:%lf YPos:%lf theta:%lf\n",XPos,YPos,Theta); } +void Odmetry::print_Pos(){ printf("XPos:%lf YPos:%lf theta:%lf\n",XPos,YPos,Theta + PI / 2); } + +double Odmetry::obt_CurrentPosX(){ return XPos; } + +double Odmetry::obt_CurrentPosY(){ return YPos; } + +double Odmetry::obt_CurrentTheta(){ return Theta + PI / 2; }