Revision 913
Odometry works but the precision is awful. Angles are measured fairly accurately, but distance readings are consistently lower then expected.
| main.c | ||
|---|---|---|
| 5 | 5 |
{
|
| 6 | 6 |
dragonfly_init(ALL_ON); |
| 7 | 7 |
odometry_init(); |
| 8 |
int angle;
|
|
| 8 |
char buf[100];
|
|
| 9 | 9 |
while(1){
|
| 10 |
usb_puts("X: ");
|
|
| 11 |
usb_puti(odometry_dx()); |
|
| 12 |
usb_puts(" Y: ");
|
|
| 13 |
usb_puti(odometry_dy()); |
|
| 14 |
usb_puts(" Theta: ");
|
|
| 15 |
angle = (int)(odometry_angle()*150.0); |
|
| 16 |
usb_puti(angle); |
|
| 17 |
usb_puts("\n\r");
|
|
| 10 |
sprintf(buf,"X: %i, Y: %i, Theta: %f\n\r",odometry_dx(),odometry_dy(),odometry_angle()); |
|
| 11 |
usb_puts(buf); |
|
| 18 | 12 |
delay_ms(500); |
| 19 | 13 |
} |
| 20 | 14 |
return 0; |
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