Revision 913
Odometry works but the precision is awful. Angles are measured fairly accurately, but distance readings are consistently lower then expected.
| odometry.h | ||
|---|---|---|
| 4 | 4 |
|
| 5 | 5 |
//Odometry resolution, *64 microseconds. |
| 6 | 6 |
//= approx. 100 ms |
| 7 |
#define ODOMETRY_CLK 1600
|
|
| 7 |
#define ODOMETRY_CLK 255u
|
|
| 8 | 8 |
|
| 9 | 9 |
//Wheel = 2.613 in. |
| 10 | 10 |
//Circumference = 208.508133 mm |
| 11 | 11 |
//Distance per encoder click (circumference / 1024) = 203.621224 um. |
| 12 | 12 |
//Robot width = 5.3745 in. = 136.5123 mm |
| 13 | 13 |
|
| 14 |
#define ROBOT_WIDTH_MM 137 //mm
|
|
| 14 |
#define ROBOT_WIDTH_UM 137000 //um
|
|
| 15 | 15 |
#define CLICK_DISTANCE_UM 204 //um |
| 16 | 16 |
|
| 17 | 17 |
//Standard measures will be mm and us |
Also available in: Unified diff