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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!!
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.
Changed some odometry stuff. Interrupt is called now.Still some problem that is not updating x and y data.
Forgot to add these files to the repository.