Revision bb64f5e5
Added a ScoutPosition struct with some functions and Changed the odometry code to use it.
| scout/libscout/src/test_behaviors/Odometry_new.h | ||
|---|---|---|
| 6 | 6 |
#include "../Behavior.h" |
| 7 | 7 |
#include "../Sensors.h" |
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#include "messages/ScoutPosition.h" |
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#include "../helper_classes/ScoutPosition.h" |
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| 9 | 10 |
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#define WHEEL_R 0.025 //this is a virtual unit now... use real values |
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#define WHEEL_B 0.115 // this is a virtual unit now... use real values |
| ... | ... | |
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#define LOOP_RATE 10 // Hz, integrate 10 times per second |
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#define LOOP_TIME (1.0/LOOP_RATE) // secs |
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typedef struct{
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float x; |
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float y; |
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float theta; |
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} posi; |
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class Odometry_new : Behavior{
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public: |
| ... | ... | |
| 55 | 50 |
int motor_br_ticks_last; |
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int scout_theta; |
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posi* scout_pos;
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pos* scout_pos; |
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}; |
| 61 | 56 |
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