Revision 730
Minor changes (maybe).
trunk/code/projects/slam.bak2/odometry/odometry.c | ||
---|---|---|
46 | 46 |
v_l = (CLICK_DISTANCE*(encoder_left - encoder_ltm1)) / (ODOMETRY_CLK * 64); // um / us = m/s |
47 | 47 |
v_r = (CLICK_DISTANCE*(encoder_right - encoder_rtm1)) / (ODOMETRY_CLK * 64); // same |
48 | 48 |
|
49 |
if(v_l = v_r){ |
|
49 |
if(v_l == v_r){
|
|
50 | 50 |
diff_x += v_l * cos(angle); |
51 | 51 |
diff_y += v_r * sin(angle); |
52 | 52 |
} |
trunk/code/projects/slam.bak2/odometry/encoders.h | ||
---|---|---|
27 | 27 |
int encoder_get_dx(char encoder); |
28 | 28 |
void encoder_rst_dx(char encoder); |
29 | 29 |
int encoder_get_tc(void); |
30 |
void encoder_rst_tc(void); |
|
30 |
void encoder_rst_tc(void); |
|
31 |
|
Also available in: Unified diff