From 6d26c4ced90b0cb0638c8e216482a46265b7e91d Mon Sep 17 00:00:00 2001
From: d3rped <derped@c3d2.de>
Date: Thu, 22 Mar 2018 05:25:40 +0100
Subject: [PATCH] Added Documentation to Odometry to aid the implementation
 process.

---
 src/odometry.py | 19 +++++++++++++++++++
 1 file changed, 19 insertions(+)

diff --git a/src/odometry.py b/src/odometry.py
index 506a0ce..eeff834 100644
--- a/src/odometry.py
+++ b/src/odometry.py
@@ -5,6 +5,25 @@
 import time
 from planet import Direction
 
+'''
+Documentation:
+good and simple explanation on how odometry works:
+https://www.youtube.com/watch?v=qsdiIZncgqo
+
+Summary:
+axis a (measure distance where wheels have most friction)
+calibration factor c = diameter/ticks_per_turn
+distance d = ticks wheel * c (calculate for each wheel individually)
+vector_length = (d_l + d_r)/2
+vector_angle ~= (d_l + d_r)/a      (only applicable for small distances)
+
+Functionality that should be implemented in this class:
+- tracking of relative distances
+- track the roboters orientation
+- maybe have seperate functions for vector length and orientation (only if it is beneficial)
+- closest coordinate to relative distance estimation/calculation
+'''
+
 
 class Odometry:
     def __init__(self, planet):