Added Documentation to Odometry to aid the implementation process.

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d3rped 2018-03-22 05:25:40 +01:00
parent df9c636b6e
commit 6d26c4ced9

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@ -5,6 +5,25 @@
import time import time
from planet import Direction 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: class Odometry:
def __init__(self, planet): def __init__(self, planet):