Oskar Weigl
/
Eurobot2013
We are going to win! wohoo
Diff: Kalman/Kalman.cpp
- Revision:
- 6:5a52c046d8f7
- Parent:
- 1:6799c07fe510
diff -r a229f40c1210 -r 5a52c046d8f7 Kalman/Kalman.cpp --- a/Kalman/Kalman.cpp Wed Nov 14 16:15:46 2012 +0000 +++ b/Kalman/Kalman.cpp Wed Nov 14 16:49:10 2012 +0000 @@ -6,7 +6,7 @@ #include "RFSRF05.h" #include "math.h" #include "globals.h" -#include "motors.h" +#include "encoders.h" #include "system.h" #include "geometryfuncs.h" @@ -14,7 +14,7 @@ #include <tvmet/Vector.h> using namespace tvmet; -Kalman::Kalman(Motors &motorsin, +Kalman::Kalman(Encoders &encodersin, UI &uiin, PinName Sonar_Trig, PinName Sonar_Echo0, @@ -41,7 +41,7 @@ Sonar_SCK, Sonar_NCS, Sonar_NIRQ), - motors(motorsin), + encoders(encodersin), ui(uiin), predictthread(predictloopwrapper, this, osPriorityNormal, 512), predictticker( SIGTICKARGS(predictthread, 0x1) ), @@ -83,7 +83,7 @@ //Note: this init function assumes that the robot faces east, theta=0, in the +x direction void Kalman::KalmanInit() { - motors.stop(); + float SonarMeasuresx1000[3]; float IRMeasuresloc[3]; int beacon_cnt = 0; @@ -199,11 +199,11 @@ Thread::signal_wait(0x1); OLED1 = !OLED1; - int leftenc = motors.getEncoder1(); - int rightenc = motors.getEncoder2(); + int leftenc = encoders.getEncoder1(); + int rightenc = encoders.getEncoder2(); - float dleft = motors.encoderToDistance(leftenc-lastleft)/1000.0f; - float dright = motors.encoderToDistance(rightenc-lastright)/1000.0f; + float dleft = encoders.encoderToDistance(leftenc-lastleft)/1000.0f; + float dright = encoders.encoderToDistance(rightenc-lastright)/1000.0f; lastleft = leftenc; lastright = rightenc;