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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.
Added symbolic links to the odometry in mapping to the library, and provided documentation.
Odometry works!!
Nothing was fixed nothing changed.
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.
Quick update before I do something stupid.
Some changes.
Changed some odometry stuff. Interrupt is called now.Still some problem that is not updating x and y data.
odometry compiles - timer issues, interrupt never called.
Small modifications to odometry. I'm all but committed to using floating point.
Cleaning up, trying to be safe.
Minor changes (maybe).
More work on odometry code. (Really want to use floats but am avoiding temptation for now.)
Wrote some odometry code. I had the timers the way I wanted them a couple of days ago, but then subversion ate up my code. I have the right interrupt vector now though...