Data Structures
struct	ticks_t

struct	position_t

Functions
void	compute_movement (void)
	Compute the coding wheels movements. More...

void	update_position (void)
	Update the position according to the information given by the coding wheels. More...

Variables
ticks_t	previous_ticks

ticks_t	delta_ticks

position_t	cur_pos

Function Documentation

§ compute_movement()

void compute_movement ( void )

Compute the coding wheels movements.

Definition at line 39 of file position.c.

§ update_position()

void update_position ( void )

Update the position according to the information given by the coding wheels.

This function must be called AFTER update_orientation(), as it considers that the 'orientation' variable holds the new orientation.

Coding wheels ticks, at previous cur_pos update. A separate variable is used because cur_pos update frequency can be different from the compute_movement one.

Definition at line 48 of file position.c.

Variable Documentation

§ cur_pos

position_t cur_pos

Current cartesian coordinates of the robot center, in mm.

Definition at line 22 of file position.c.

§ delta_ticks

ticks_t delta_ticks

Variation of the coding wheels, in ticks.

Definition at line 20 of file position.c.

§ previous_ticks

ticks_t previous_ticks

For tests only.

Definition at line 18 of file position.c.

Data Structures

Functions