Project

General

Profile

Revision 259aaff8

ID259aaff87e4c65eba7ed8e493394230fff36b1a6
Parent 339f64d2
Child bb64f5e5

Added by Colony Scout about 11 years ago

Flipped front left encoder ticks because its backwards on the scout. Also continuing testing Odometery_new.

View differences:

scout/libscout/src/test_behaviors/Odometry_new.cpp
30 30 
  motor_bl_ticks_iter = scout_enc.bl_ticks - motor_bl_ticks_last;
31 31 
  motor_br_ticks_iter = scout_enc.br_ticks - motor_br_ticks_last;
32 32
33 
  // update the
34 
  motor_fl_ticks_last = scout_enc.fl_ticks;
35 
  motor_fr_ticks_last = scout_enc.fr_ticks;
36 
  motor_bl_ticks_last = scout_enc.bl_ticks;
37 
  motor_br_ticks_last = scout_enc.br_ticks;
33 38 

  		




  34
  39
  
    
  avg_left_ticks = (float) motor_fl_ticks_iter;


  		




  35
  40
  
    
  avg_right_ticks = (float) motor_fr_ticks_iter;


  		




  ......




  73
  78
  
    
  scout_pos->y += loop_time/6 * (k01+2*(k11+k21)+k31);


  		




  74
  79
  
    
  scout_pos->theta += loop_time/6 * (k02+2*(k12+k22)+k32);


  		




  75
  80
  
    

  		




  76
  
  
    
  // update the 


  		




  77
  
  
    
  motor_fl_ticks_last = scout_enc.fl_ticks;


  		




  78
  
  
    
  motor_fr_ticks_last = scout_enc.fr_ticks;


  		




  79
  
  
    
  motor_bl_ticks_last = scout_enc.bl_ticks;


  		




  80
  
  
    
  motor_br_ticks_last = scout_enc.br_ticks;


  		




  81
  81
  
    

  		




  82
  82
  
    
}


  		




  83
  83
  
    

  		




  ......




  90
  90
  
    
  //Rate r(LOOP_RATE); 


  		




  91
  91
  
    
  Duration r = Duration(LOOP_TIME);


  		




  92
  92
  
    

  		




  93
  
  
    
  motors->set_sides(50,50, MOTOR_ABSOLUTE);


  		




  
  93
  
    
  motors->set_sides(-50,50, MOTOR_ABSOLUTE);


  		




  94
  94
  
    

  		




  95
  95
  
    
  while(ok())


  		




  96
  96
  
    
  {


  		












Also available in:  Unified diff