Colony

/**

 * @file odometry.h

 * @brief Code for estimating the robots pose.

 * 

 * Offers simple position and orientation information.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#ifndef __ODOMETRY_C__

#define __ODOMETRY_C__

//Odometry resolution, *64 microseconds.

//= approx. 100 ms

#define ODOMETRY_CLK 255u 

//Wheel = 2.613 in.  

//Circumference = 208.508133 mm

//Distance per encoder click (circumference / 1024)  = 203.621224 um.

//Robot width = 5.3745 in. = 136.5123 mm

#define ROBOT_WIDTH_UM 137000  //um

#define CLICK_DISTANCE_UM 204 //um

#define DISTANCE_SCALE 2.10526316

#define ANGLE_SCALE 1.12823207

//Standard measures will be mm and us

/** @brief Retrieve the robots estimated x position*/

long odometry_dx(void);

/** @brief Retrieve the robots estimated y position*/

long odometry_dy(void);

/** @brief Retrieve the robots estimated orientation*/

double odometry_angle(void);

/** @brief Initialize odometry. MUST be called before 

 * the other functions work.**/

void odometry_init(void);

/** @brief Reset position and orientation to the origin facing

 * the x axis.*/

void odometry_reset(void);

#endif