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Revision beaf9201

IDbeaf92012a2c675cf35a708fcb2da88749db9b89
Parent 97c5c430
Child 492d2fde

Added by Colony Scout about 11 years ago

Fixes to the Odometery behavior.

View differences:

scout/libscout/src/test_behaviors/Odometry_new.h
7 7 
#include "../Sensors.h"
8 8 
#include "messages/ScoutPosition.h"
9 9 

  		




  10
  
  
    
#define WHEEL_R 1 //this is a virtual unit now... use real values


  		




  11
  
  
    
#define WHEEL_B 1  // this is a virtual unit now... use real values


  		




  
  10
  
    
#define WHEEL_R 0.025 //this is a virtual unit now... use real values


  		




  
  11
  
    
#define WHEEL_B 0.105  // this is a virtual unit now... use real values


  		




  12
  12
  
    
#define TICKS_PER_REV 48


  		




  13
  
  
    
#define PI 3.1415926


  		




  14
  
  
    
#define RAD_PER_TICK ((TICKS_PER_REV)/360.0 * PI / 180.0)


  		




  
  13
  
    
#define RAD_PER_TICK (2*M_PI/TICKS_PER_REV)


  		




  15
  14
  
    
#define LOOP_RATE 10 // Hz, integrate 10 times per second


  		




  16
  15
  
    
#define LOOP_TIME (1.0/LOOP_RATE) // secs


  		




  17
  16
  
    

  		












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