Revision 339f64d2 scout/libscout/src/behaviors/Odometry.cpp
scout/libscout/src/behaviors/Odometry.cpp  

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//Also, subtract the delta from y because positive y is down. 
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scout_pos>x += total_dist*cos(theta); 
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scout_pos>y = total_dist*sin(theta); 
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scout_pos>theta = fmod(theta, 2*M_PI);


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scout_pos>theta = fmod(theta, (float)(2*M_PI));


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//Save state for next time in. 
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motor_fl_ticks = scout_enc.fl_ticks; 
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