Diff: Odometry.h

Revision:

1:1765665581cc

Parent:

0:402f8c75d394

--- a/Odometry.h	Tue Aug 11 13:05:46 2015 +0000
+++ b/Odometry.h	Thu Sep 10 07:37:48 2015 +0000
@@ -10,19 +10,13 @@
 class Robot
 {
   public:
-    Robot(float wheelbase, float width, float countPerMeter);
+    Robot(float width, float countPerMeter);
     
     /* returns radius in [m]. When turning right, radius is negativ
      *    left is positive
-     *
-     * param servoAngle is how is the servo angle in radians. Center 
-     *    is pi/2 (1.571)
     */ 
-    float getRadius(float servoAngle);
-    
-    void countRadius(float servoAngle);
-    
-    float getServoAngle(float R);
+    float getRadius(float v1, float v2);
+    void countRadius(float v1, float v2);
     
     /* returns speed in format 
      *      [0] = linear x
@@ -33,12 +27,9 @@
      */         
     std::vector<float> getSpeed(std::vector<int> encoders);
   
-    std::vector<float> getMotorRatio();
-    
-    std::vector<float> getMotorRatio(float R);
+    std::vector<float> getMotorRatio(float x, float z);
 
   private:  
-    float _whbs;      // wheelbase
     float _w;         // width
     float _R;
     uint32_t _countPerMeter;