Revision bb64f5e5
Added a ScoutPosition struct with some functions and Changed the odometry code to use it.
| scout/libscout/src/behaviors/Odometry.h | ||
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#include "../Behavior.h" |
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#include "../Sensors.h" |
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#include "messages/ScoutPosition.h" |
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#include "../helper_classes/ScoutPosition.h" |
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#define WHEEL_RADIUS .2 |
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#define WHEEL_CIRCUM (2*M_PI*WHEEL_RADIUS) |
| ... | ... | |
| 12 | 12 |
#define ENCODER_COUNT (2*WHEEL_RADIUS*350*M_PI/WHEEL_BASE) |
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#define DIST_PER_TICK (WHEEL_CIRCUM/ENCODER_COUNT) |
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typedef struct{
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float x; |
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float y; |
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float theta; |
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} pos; |
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class Odometry : Behavior{
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public: |
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