Revision 730
Minor changes (maybe).
| 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 |
} |
Also available in: Unified diff