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Revision ddfeb111

IDddfeb11183e90127649a5f69425bedc926bda71c
Parent 0ccfc42d
Child 25694a03

Added by Priya over 11 years ago

Fixing bugs with ghost scout (these were problems in odometry related
to constants in the simulator and coordinate frame and theta representation
in the simulator). Also made ghost scout translucent in order to differentiate
it.

View differences:

scout/libscout/src/behaviors/Odometry.h
6 6 
#include "messages/ScoutPosition.h"
7 7 

  		




  8
  8
  
    

  		




  9
  
  
    
#define WHEEL_RADIUS  2


  		




  
  9
  
    
#define WHEEL_RADIUS  .2


  		




  10
  10
  
    
#define WHEEL_CIRCUM  (2*M_PI*WHEEL_RADIUS)


  		




  11
  
  
    
#define WHEEL_BASE    5


  		




  12
  
  
    
#define ENCODER_COUNT (4*1200*M_PI/5)


  		




  
  11
  
    
#define WHEEL_BASE    1.2


  		




  
  12
  
    
#define ENCODER_COUNT (2*WHEEL_RADIUS*350*M_PI/WHEEL_BASE)


  		




  13
  13
  
    
#define DIST_PER_TICK (WHEEL_CIRCUM/ENCODER_COUNT)


  		




  14
  14
  
    

  		




  15
  15
  
    
typedef struct{


  		












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