Revision beaf9201
Fixes to the Odometery behavior.
scout/libscout/src/test_behaviors/Odometry_new.h | ||
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7 | 7 |
#include "../Sensors.h" |
8 | 8 |
#include "messages/ScoutPosition.h" |
9 | 9 |
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#define WHEEL_R 1 //this is a virtual unit now... use real values
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#define WHEEL_B 1 // this is a virtual unit now... use real values
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#define WHEEL_R 0.025 //this is a virtual unit now... use real values
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#define WHEEL_B 0.105 // this is a virtual unit now... use real values
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#define TICKS_PER_REV 48 |
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#define PI 3.1415926 |
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#define RAD_PER_TICK ((TICKS_PER_REV)/360.0 * PI / 180.0) |
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#define RAD_PER_TICK (2*M_PI/TICKS_PER_REV) |
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#define LOOP_RATE 10 // Hz, integrate 10 times per second |
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#define LOOP_TIME (1.0/LOOP_RATE) // secs |
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