File content as of revision 6:e7f2335456c8:

#include <SLE.hpp>

SLE::SLE(Port enc0,Port enc1,Port enc2,Port enc3,int resolution,float ensyu,float interval):wheel_ensyu(ensyu),dt(interval)
{
    odometer[0].specinit(enc0.pin[0],enc0.pin[1],1,resolution,4);
    odometer[1].specinit(enc1.pin[0],enc1.pin[1],1,resolution,4);
    odometer[2].specinit(enc2.pin[0],enc2.pin[1],1,resolution,4);
    odometer[3].specinit(enc3.pin[0],enc3.pin[1],1,resolution,4);
    
    //wheel_ensyu = ensyu;
    //interval_time = interval;
    reset();
}

void SLE::update(double theta)
{
    double encV[4];
    for(int i = 0; i < 4; ++i) {
        encV[i] = (odometer[i].getSpeed())*wheel_ensyu/10;
    }
    Vx[NOW] = ((encV[3] * -sin(theta)) +(encV[0] * -sin(theta + M_PI/2)) +(encV[1] * -sin(theta + M_PI)) +(encV[2] * -sin(theta + 3*(M_PI/2))))/2;
    Vy[NOW] = ((encV[2] *  sin(theta)) +(encV[3] *  sin(theta + M_PI/2)) +(encV[0] *  sin(theta + M_PI)) +(encV[1] *  sin(theta + 3*(M_PI/2))))/2;

    position[X_DATA] -= ((Vx[NOW] + Vx[PREV])/2)*dt;
    position[Y_DATA] -= ((Vy[NOW] + Vy[PREV])/2)*dt;
    velocity[X_DATA] = Vx[NOW];
    velocity[Y_DATA] = Vy[NOW];
    
    Vx[PREV] = Vx[NOW];
    Vy[PREV] = Vy[NOW];
}

void SLE::reset()
{
    Vx[NOW]  = 0;
    Vx[PREV] = 0;
    Vy[NOW]  = 0;
    Vy[PREV] = 0;
    position[X_DATA] = 0;
    position[Y_DATA] = 0;
    velocity[X_DATA] = 0;
    velocity[Y_DATA] = 0;
}

void SLE::setPos(float x_pos,float y_pos)
{
    position[X_DATA] = x_pos;
    position[Y_DATA] = y_pos;
}