Revision 949
Added a odometry_velocity function that gives approximate speed of the robot in mm/s.
| odometry.h | ||
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#ifndef __ODOMETRY_C__ |
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#define __ODOMETRY_C__ |
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/** |
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* @addtogroup odometry |
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* @{
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**/ |
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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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#define TIME_SCALE 64 |
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//Wheel = 2.613 in. |
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//Circumference = 208.508133 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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#define DISTANCE_SCALE 2.10526316 |
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#define ANGLE_SCALE 1.12823207 |
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#define DISTANCE_SCALE 2.10526316 //Magic constant.
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#define ANGLE_SCALE 1.12823207 //Magic constant.
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//Standard measures will be mm and us |
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/** @brief Retrieve the robots estimated x position*/ |
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long odometry_dx(void); |
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/** @brief Retrieve the robots estimated y position*/ |
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long odometry_dy(void); |
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/** @brief Retrieve the robots estimated orientation*/ |
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double odometry_angle(void); |
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/** @brief Initialize odometry. MUST be called before |
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* the other functions work.**/ |
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void odometry_init(void); |
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/** @brief Reset position and orientation to the origin facing |
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* the x axis.*/ |
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void odometry_reset(void); |
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/** @brief Report estimated velocity [mm/s].*/ |
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long odometry_velocity(void); |
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/**@}**/ //end group |
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#endif |
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