root / trunk / code / projects / mapping / odometry / odometry.h @ 924
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1 | 889 | justin | |
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2 | #ifndef __ODOMETRY_C__
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3 | #define __ODOMETRY_C__
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4 | |||
5 | //Odometry resolution, *64 microseconds.
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6 | 909 | justin | //= approx. 100 ms
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7 | 913 | justin | #define ODOMETRY_CLK 255u |
8 | 889 | justin | |
9 | //Wheel = 2.613 in.
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10 | //Circumference = 208.508133 mm
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11 | //Distance per encoder click (circumference / 1024) = 203.621224 um.
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12 | //Robot width = 5.3745 in. = 136.5123 mm
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13 | |||
14 | 913 | justin | #define ROBOT_WIDTH_UM 137000 //um |
15 | 889 | justin | #define CLICK_DISTANCE_UM 204 //um |
16 | |||
17 | //Standard measures will be mm and us
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18 | |||
19 | 924 | justin | long odometry_dx(void); |
20 | long odometry_dy(void); |
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21 | 909 | justin | double odometry_angle(void); |
22 | 889 | justin | void odometry_init(void); |
23 | void odometry_reset(void); |
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24 | |||
25 | #endif |