Project

General

Profile

Revision beaf9201

IDbeaf92012a2c675cf35a708fcb2da88749db9b89
Parent 97c5c430
Child 492d2fde

Added by Colony Scout over 3 years ago

Fixes to the Odometery behavior.

View differences:

scout/libscout/src/test_behaviors/Odometry_new.h
7 7
#include "../Sensors.h"
8 8
#include "messages/ScoutPosition.h"
9 9

  
10
#define WHEEL_R 1 //this is a virtual unit now... use real values
11
#define WHEEL_B 1  // this is a virtual unit now... use real values
10
#define WHEEL_R 0.025 //this is a virtual unit now... use real values
11
#define WHEEL_B 0.105  // this is a virtual unit now... use real values
12 12
#define TICKS_PER_REV 48
13
#define PI 3.1415926
14
#define RAD_PER_TICK ((TICKS_PER_REV)/360.0 * PI / 180.0)
13
#define RAD_PER_TICK (2*M_PI/TICKS_PER_REV)
15 14
#define LOOP_RATE 10 // Hz, integrate 10 times per second
16 15
#define LOOP_TIME (1.0/LOOP_RATE) // secs
17 16

  

Also available in: Unified diff