odom.hpp

#pragma once
#include "api.h"
#include "helpers.hpp"
#include "main.h"
 
extern std::atomic<float> HorizontalWheelPosition;
extern std::atomic<float> VerticalWheelPosition;
 
const float leftOdomOffsetInches = 1.9375f;
const float rightOdomOffsetInches = 1.9375f;
const float backOdomOffsetInches = 0.0f;
 
const float inverseOffset = 1.0f / (leftOdomOffsetInches + rightOdomOffsetInches);
 
const float radiusLeftIn = 2.0f;
const float radiusRightIn = 2.0f;
const float radiusBackIn = 2.0f;
 
const float circLeftIn = radiusLeftIn * radiusLeftIn * PI;
const float circRightIn = radiusRightIn * radiusRightIn * PI;
const float circBackIn = radiusBackIn * radiusBackIn * PI;
 
const float inv2Pi = 1.0f / (2.0f * PI);
const float deg2rad = PI / 180.0f;
const float convertFactor = /* 2 * PI / 130.0f */ 1.0f;
 
void odomCalcPos(void);
void odomCalcPos2(void);
void odomGetPos(void);
void odomReset(void);
void brainScreenManager(void);
 
extern std::atomic<float> globalHeading;
extern std::atomic<float> globalHeadingAtLastReset;
extern float prevGlobalHeading;
 
extern float lastLeft;
extern float lastRight;
extern float lastBack;
 
extern std::atomic<float> globalXIn;
extern std::atomic<float> globalYIn;
extern std::atomic<float> lastGlobalXIn;
extern std::atomic<float> lastGlobalYIn;
 
extern std::atomic<float> leftAtLastReset;
extern std::atomic<float> rightAtLastReset;
 
extern std::atomic<float> odomLeftPosRads;
extern std::atomic<float> odomRightPosRads;
extern std::atomic<float> odomBackPosRads;
 
extern std::atomic<int> dist;