This repo is for driving a differential-drived robot.
Dependencies: mbed ros_lib_kinetic_1 Encoder
odometry.h
- Committer:
- r08522622
- Date:
- 2021-03-10
- Revision:
- 0:b21301d612b9
File content as of revision 0:b21301d612b9:
class Odom{ public: Odom(); // Hardware Parameters float radius; float width; // pose & velocity float x; float y; float th; float vx; float vy; float vth; // Calculation Parameters float enc_left; float enc_right; float delta_distance_left; float delta_distance_right; // functions void init(); void get_vel(float v, float w); void get_distance(float new_enc_left, float new_enc_right); void odom_calculation(); };