Revision 3db79f25
Fixed Odometry behavior so that it now works and then added a get readings functionality to sonarcontrol.
scout/libscout/src/behaviors/Odometry.h | ||
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#include "../Behavior.h" |
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#define WHEEL_RADIUS 5
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#define WHEEL_RADIUS 2
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#define WHEEL_CIRCUM (2*M_PI*WHEEL_RADIUS) |
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#define WHEEL_BASE 2
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#define ENCODER_COUNT 8800000000
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#define WHEEL_BASE 5
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#define ENCODER_COUNT (4*1200*M_PI/5)
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#define DIST_PER_TICK (WHEEL_CIRCUM/ENCODER_COUNT) |
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typedef struct{ |
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float msg_time_in; |
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float motor_fl_dist;
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float motor_fr_dist;
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float motor_bl_dist;
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float motor_br_dist;
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int motor_fl_dist;
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int motor_fr_dist;
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int motor_bl_dist;
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int motor_br_dist;
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float motor_fl_ticks;
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float motor_fr_ticks;
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float motor_bl_ticks;
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float motor_br_ticks;
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unsigned int motor_fl_ticks;
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unsigned int motor_fr_ticks;
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unsigned int motor_bl_ticks;
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unsigned int motor_br_ticks;
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float scout_theta; |
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pos* scout_pos; |
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