Odometry

Defines
#define	ODOMETRY_CLK   255u
#define	TIME_SCALE   64
#define	ROBOT_WIDTH_UM   137000
#define	CLICK_DISTANCE_UM   204
#define	DISTANCE_SCALE   2.10526316
#define	ANGLE_SCALE   1.12823207
Functions
long	odometry_dx (void)
	Retrieve the robots estimated x position.
long	odometry_dy (void)
	Retrieve the robots estimated y position.
double	odometry_angle (void)
	Retrieve the robots estimated orientation.
void	odometry_init (void)
	Initialize odometry. MUST be called before the other functions work.
void	odometry_reset (void)
	Reset position and orientation to the origin facing the x axis.
long	odometry_velocity (void)
	Report estimated velocity [mm/s].

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Function Documentation

double odometry_angle

(

void

)

Retrieve the robots estimated orientation.

Retrieve the estimated angle [radians]

long odometry_dx

(

void

)

Retrieve the robots estimated x position.

Retrieve the estimated x position. [millimeters]

long odometry_dy

(

void

)

Retrieve the robots estimated y position.

Retrieve the estimated y position. [millimeters]

void odometry_init

(

void

)

Initialize odometry. MUST be called before the other functions work.

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.

void odometry_reset

(

void

)

Reset position and orientation to the origin facing the x axis.

Resets all values so that the center of the robot is considered to be at the origin facing the x direction.