root / scout / libscout / src / behaviors / Odometry.cpp @ 5755691e
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1 | f79fbce2 | Priya | |
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2 | #include "Odometry.h" |
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3 | |||
4 | using namespace std; |
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5 | |||
6 | /** Set up the odometry node and prepare communcations over ROS */
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7 | 31be19a6 | Priya | Odometry::Odometry(string scoutname):Behavior(scoutname, "odometry") |
8 | f79fbce2 | Priya | { |
9 | scout_pos = new pos;
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10 | } |
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11 | |||
12 | /** Query encoders and estimate position based on encoder reading */
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13 | void Odometry::get_position()
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14 | { |
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15 | float left_dist, right_dist, total_dist, theta;
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16 | // float left_vel, right_vel;
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17 | |||
18 | /* TODO: Get current encoder ticks */
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19 | encoder_readings scout_enc = encoders->query(); |
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20 | 31be19a6 | Priya | motor_fl_dist = scout_enc.fl_ticks; |
21 | motor_fr_dist = scout_enc.fr_ticks; |
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22 | motor_bl_dist = scout_enc.bl_ticks; |
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23 | motor_br_dist = scout_enc.br_ticks; |
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24 | /**
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25 | motor_fl_dist = scout_enc.fl_ticks - motor_fl_ticks;
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26 | motor_fr_dist = scout_enc.fr_ticks - motor_fr_ticks;
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27 | motor_bl_dist = scout_enc.bl_ticks - motor_bl_ticks;
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28 | motor_br_dist = scout_enc.br_ticks - motor_br_ticks;
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29 | **/
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30 | f79fbce2 | Priya | |
31 | left_dist = DIST_PER_TICK*(motor_fl_dist + motor_bl_dist)/2;
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32 | right_dist = DIST_PER_TICK*(motor_fr_dist + motor_br_dist)/2;
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33 | |||
34 | total_dist = (left_dist+right_dist)/2;
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35 | theta = (right_dist - left_dist)/WHEEL_BASE; |
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36 | |||
37 | scout_pos->x = total_dist*sin(theta); |
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38 | scout_pos->y = total_dist*cos(theta); |
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39 | 31be19a6 | Priya | scout_pos->theta = theta; |
40 | |||
41 | /**
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42 | //Save state for next time in.
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43 | motor_fl_ticks = scout_enc.fl_ticks;
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44 | motor_fr_ticks = scout_enc.fr_ticks;
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45 | motor_bl_ticks = scout_enc.bl_ticks;
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46 | motor_br_ticks = scout_enc.br_ticks;
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47 | **/
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48 | f79fbce2 | Priya | return;
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49 | } |
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50 | |||
51 | void Odometry::run()
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52 | { |
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53 | while(ok())
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54 | { |
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55 | get_position(); |
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56 | 31be19a6 | Priya | //TODO publish position
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57 | ROS_INFO("Scout is at x: %f y: %f theta: %f\n", scout_pos->x, scout_pos->y, scout_pos->theta);
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58 | f79fbce2 | Priya | } |
59 | } |