root / trunk / code / projects / mapping / robot / odometry.h @ 915
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#ifndef __ODOMETRY_C__
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#define __ODOMETRY_C__
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//Odometry resolution, *64 microseconds.
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//= approx. 100 ms
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#define ODOMETRY_CLK 255u |
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//Wheel = 2.613 in.
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//Circumference = 208.508133 mm
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//Distance per encoder click (circumference / 1024) = 203.621224 um.
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//Robot width = 5.3745 in. = 136.5123 mm
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#define ROBOT_WIDTH_UM 137000 //um |
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#define CLICK_DISTANCE_UM 204 //um |
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//Standard measures will be mm and us
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int odometry_dx(void); |
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int odometry_dy(void); |
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double odometry_angle(void); |
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void odometry_init(void); |
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void odometry_reset(void); |
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#endif
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