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Minor modifications and fixes. Haven't gotten it to work yet.
Added a odometry_velocity function that gives approximate speed of the robot in mm/s.
Odometry works!!
Odometry committed. New version is more general, but still drifts to zero.
Odometry will temporarily not work. Working code commented out. This commit is so the blight on the world that is colony math.h will be eradicated for all time.
Odometry works but the precision is awful. Angles are measured fairly accurately, but distance readings are consistently lower then expected.
Forgot to add these files to the repository.