Revision ddfeb111 scout/libscout/src/behaviors/Odometry.h

View differences:

scout/libscout/src/behaviors/Odometry.h
6 6 
#include "messages/ScoutPosition.h"
7 7 

  		




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#define WHEEL_RADIUS  2


  		




  
  9
  
    
#define WHEEL_RADIUS  .2


  		




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#define WHEEL_CIRCUM  (2*M_PI*WHEEL_RADIUS)


  		




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#define WHEEL_BASE    5


  		




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#define ENCODER_COUNT (4*1200*M_PI/5)


  		




  
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#define WHEEL_BASE    1.2


  		




  
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#define ENCODER_COUNT (2*WHEEL_RADIUS*350*M_PI/WHEEL_BASE)


  		




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#define DIST_PER_TICK (WHEEL_CIRCUM/ENCODER_COUNT)


  		




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typedef struct{


  		












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