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Revision 730

Minor changes (maybe).

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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

  

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