Odometry

Odometry (angle, x, y), updated at 100Hz. More...

Variables
integer[1]	odo.delta
	[out]instantaneous speed difference
integer[1]	odo.theta = {0}
	[out] odometer current angle
integer[1]	odo.x = {0}
	[out] odometer x
integer[1]	odo.y = {0}
	[out] odometer y
integer[1]	odo.degree
	[out] odometer direction

Detailed Description

Odometry (angle, x, y), updated at 100Hz.

A simple dead reckoning is calculed from the two motor target speeds \( M_R \) and \( M_L \). Since we are updating at 100 Hz, the angles will be small and we can use the formulas from (Borenstein et al 1996) as described by (Lucas 2000):

\[ \Delta = (M_R + M_L)/2 \]

\[ \theta \,+\!\!= k_1 (M_R - M_L)/b \]

\[ x \,+\!\!= k_2 \Delta \cos\theta \]

\[ y \,+\!\!= k_2 \Delta \sin\theta \]

where \( b=95 \) mm is the wheelbase, and constants \( k_1=32.36 \), \( k_2=6.78\times10^{-7} \) scale to and from Aseba radians.