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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
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<html><head><meta http-equiv="Content-Type" content="text/html;charset=UTF-8">
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<title>Colony: Odometry</title>
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<!-- Generated by Doxygen 1.5.8 -->
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      <li><a href="index.html"><span>Main&nbsp;Page</span></a></li>
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<div class="contents">
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<h1>Odometry</h1><table border="0" cellpadding="0" cellspacing="0">
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<tr><td></td></tr>
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<tr><td colspan="2"><br><h2>Defines</h2></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gea4914268d0abe55b9caafac537bc263"></a><!-- doxytag: member="odometry::ODOMETRY_CLK" ref="gea4914268d0abe55b9caafac537bc263" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>ODOMETRY_CLK</b>&nbsp;&nbsp;&nbsp;255u</td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g3104e6ab77c71296e6879fc57af26e8e"></a><!-- doxytag: member="odometry::TIME_SCALE" ref="g3104e6ab77c71296e6879fc57af26e8e" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>TIME_SCALE</b>&nbsp;&nbsp;&nbsp;64</td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gc7a3a8ed9add07ef101e2265dc954b63"></a><!-- doxytag: member="odometry::ROBOT_WIDTH_UM" ref="gc7a3a8ed9add07ef101e2265dc954b63" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>ROBOT_WIDTH_UM</b>&nbsp;&nbsp;&nbsp;137000</td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gcf7c58b37a2d5cb3793a4f94c2fd1ab0"></a><!-- doxytag: member="odometry::CLICK_DISTANCE_UM" ref="gcf7c58b37a2d5cb3793a4f94c2fd1ab0" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>CLICK_DISTANCE_UM</b>&nbsp;&nbsp;&nbsp;204</td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g30e5d468b11a21497a943586ed536d81"></a><!-- doxytag: member="odometry::DISTANCE_SCALE" ref="g30e5d468b11a21497a943586ed536d81" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>DISTANCE_SCALE</b>&nbsp;&nbsp;&nbsp;2.10526316</td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g7618f3a2fe3ffe816299501556cea637"></a><!-- doxytag: member="odometry::ANGLE_SCALE" ref="g7618f3a2fe3ffe816299501556cea637" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>ANGLE_SCALE</b>&nbsp;&nbsp;&nbsp;1.12823207</td></tr>
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<tr><td colspan="2"><br><h2>Functions</h2></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">long&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__odometry.html#g31c085285b8a8c5049123640e228741a">odometry_dx</a> (void)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Retrieve the robots estimated x position.  <a href="#g31c085285b8a8c5049123640e228741a"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">long&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__odometry.html#g52bee31a0838e0a782758c90e4fa35df">odometry_dy</a> (void)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Retrieve the robots estimated y position.  <a href="#g52bee31a0838e0a782758c90e4fa35df"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__odometry.html#g85a0a0b11d2adf53e2f88a836080d1f4">odometry_angle</a> (void)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Retrieve the robots estimated orientation.  <a href="#g85a0a0b11d2adf53e2f88a836080d1f4"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__odometry.html#g9ccb8b57330f6769afa0f68be3a6d564">odometry_init</a> (void)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Initialize odometry. MUST be called before the other functions work.  <a href="#g9ccb8b57330f6769afa0f68be3a6d564"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__odometry.html#g778f4744dfbdb1923b51cc43f0e9ff37">odometry_reset</a> (void)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Reset position and orientation to the origin facing the x axis.  <a href="#g778f4744dfbdb1923b51cc43f0e9ff37"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gc958e4b80d89acf8b61a140b49353ff7"></a><!-- doxytag: member="odometry::odometry_velocity" ref="gc958e4b80d89acf8b61a140b49353ff7" args="(void)" -->
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long&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__odometry.html#gc958e4b80d89acf8b61a140b49353ff7">odometry_velocity</a> (void)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Report estimated velocity [mm/s]. <br></td></tr>
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</table>
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<hr><h2>Function Documentation</h2>
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<a class="anchor" name="g85a0a0b11d2adf53e2f88a836080d1f4"></a><!-- doxytag: member="odometry.h::odometry_angle" ref="g85a0a0b11d2adf53e2f88a836080d1f4" args="(void)" -->
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          <td class="memname">double odometry_angle           </td>
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          <td>(</td>
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          <td class="paramtype">void&nbsp;</td>
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          <td class="paramname">          </td>
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          <td>&nbsp;)&nbsp;</td>
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<p>
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Retrieve the robots estimated orientation. 
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<p>
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Retrieve the estimated angle [radians] 
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</div><p>
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<a class="anchor" name="g31c085285b8a8c5049123640e228741a"></a><!-- doxytag: member="odometry.h::odometry_dx" ref="g31c085285b8a8c5049123640e228741a" args="(void)" -->
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          <td class="memname">long odometry_dx           </td>
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          <td>(</td>
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Retrieve the robots estimated x position. 
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Retrieve the estimated x position. [millimeters] 
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<a class="anchor" name="g52bee31a0838e0a782758c90e4fa35df"></a><!-- doxytag: member="odometry.h::odometry_dy" ref="g52bee31a0838e0a782758c90e4fa35df" args="(void)" -->
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          <td class="memname">long odometry_dy           </td>
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          <td>(</td>
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          <td class="paramtype">void&nbsp;</td>
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          <td class="paramname">          </td>
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          <td>&nbsp;)&nbsp;</td>
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<div class="memdoc">
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<p>
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Retrieve the robots estimated y position. 
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Retrieve the estimated y position. [millimeters] 
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<a class="anchor" name="g9ccb8b57330f6769afa0f68be3a6d564"></a><!-- doxytag: member="odometry.h::odometry_init" ref="g9ccb8b57330f6769afa0f68be3a6d564" args="(void)" -->
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          <td class="memname">void odometry_init           </td>
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          <td>(</td>
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          <td class="paramtype">void&nbsp;</td>
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          <td class="paramname">          </td>
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          <td>&nbsp;)&nbsp;</td>
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Initialize odometry. MUST be called before the other functions work. 
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Initializes odometry to run on timer 2. Also resets all values so that the center of the robot is considered to be at the origin facing the x direction. 
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<a class="anchor" name="g778f4744dfbdb1923b51cc43f0e9ff37"></a><!-- doxytag: member="odometry.h::odometry_reset" ref="g778f4744dfbdb1923b51cc43f0e9ff37" args="(void)" -->
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          <td class="memname">void odometry_reset           </td>
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          <td>(</td>
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          <td class="paramtype">void&nbsp;</td>
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          <td class="paramname">          </td>
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          <td>&nbsp;)&nbsp;</td>
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Reset position and orientation to the origin facing the x axis. 
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Resets all values so that the center of the robot is considered to be at the origin facing the x direction. 
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<hr size="1"><address style="text-align: right;"><small>Generated on Fri Nov 20 21:51:59 2009 for Colony by&nbsp;
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