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Revision 3db79f25

ID3db79f259e8820845822e6176be5c3b81a405021

Added by Priya over 11 years ago

Fixed Odometry behavior so that it now works and then added a get readings functionality to sonarcontrol.

View differences:

scout/libscout/src/behaviors/Odometry.h
4 4 
#include "../Behavior.h"
5 5 

  		




  6
  6
  
    

  		




  7
  
  
    
#define WHEEL_RADIUS  5


  		




  
  7
  
    
#define WHEEL_RADIUS  2


  		




  8
  8
  
    
#define WHEEL_CIRCUM  (2*M_PI*WHEEL_RADIUS)


  		




  9
  
  
    
#define WHEEL_BASE    2


  		




  10
  
  
    
#define ENCODER_COUNT 8800000000


  		




  
  9
  
    
#define WHEEL_BASE    5


  		




  
  10
  
    
#define ENCODER_COUNT (4*1200*M_PI/5)


  		




  11
  11
  
    
#define DIST_PER_TICK (WHEEL_CIRCUM/ENCODER_COUNT)


  		




  12
  12
  
    

  		




  13
  13
  
    
typedef struct{


  		




  ......




  38
  38
  
    

  		




  39
  39
  
    
    float msg_time_in;


  		




  40
  40
  
    

  		




  41
  
  
    
    float motor_fl_dist;


  		




  42
  
  
    
    float motor_fr_dist;


  		




  43
  
  
    
    float motor_bl_dist;


  		




  44
  
  
    
    float motor_br_dist;


  		




  
  41
  
    
    int motor_fl_dist;


  		




  
  42
  
    
    int motor_fr_dist;


  		




  
  43
  
    
    int motor_bl_dist;


  		




  
  44
  
    
    int motor_br_dist;


  		




  45
  45
  
    

  		




  46
  
  
    
    float motor_fl_ticks;


  		




  47
  
  
    
    float motor_fr_ticks;


  		




  48
  
  
    
    float motor_bl_ticks;


  		




  49
  
  
    
    float motor_br_ticks;


  		




  
  46
  
    
    unsigned int motor_fl_ticks;


  		




  
  47
  
    
    unsigned int motor_fr_ticks;


  		




  
  48
  
    
    unsigned int motor_bl_ticks;


  		




  
  49
  
    
    unsigned int motor_br_ticks;


  		




  50
  50
  
    
    float scout_theta;


  		




  51
  51
  
    

  		




  52
  52
  
    
    pos* scout_pos;


  		












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