reset master to f59ae44 and applied 376532a and 3c4cb19

src/odometry.py

@@ -26,5 +26,38 @@ Functionality that should be implemented in this class:
 
 
 class Odometry:
+
     def __init__(self, planet):
-        pass
+      self._wheel_axis = 11
+      self._distance_per_tick= 0.0488
+      self._pi = 3.141
+
+        self.distance = 0
+
+
+      #worked fine outside the class as function in nano, maybe we must fix it a bit :)
+    def degree(self, delta_rotation_l, delta_rotation_r,star_Direc): #delta_rotation_l/r should work with getmovement method
+        self.alpha = 0 #should be start_Direc
+        self.alpha=star_Direc
+        while True:
+         self.alpha = ((self.delta_rotation_l * self._distance_per_tick - self.delta_rotation_r * self._distance_per_tick)/self._wheel_axis) + self.alpha
+         self.distance=(self.delta_rotation_r * self._distance_per_tick + self.delta_rotation_l * self._distance_per_tick)/2 + self.distance
+         if self.alpha % (2 * self._pi) >=0 and self.alpha % (2 * pi) <pi*0.25 or self.alpa % (2 * pi ) >= 7/4*pi and self.alpha %(2 * pi) <2*pi:
+             return(Direction.NORTH)
+
+         elif self.alpha % (2 * self._pi) >= self._pi*0.25 and self.alpha % ( 2 * pi ) < self._pi*0.5 or self.alpha % (2 * self._pi ) >= self._pi * 0.5 and self.alpha % (2 * self._pi ) < self._pi *0.75:
+             return(Direction.EAST)
+
+         elif self.alpha % (2 * self._pi)>=self._pi * 0.75 and self.alpha % (2* self._pi)< self._pi or self.alpha % (2 * self_pi) >=self._pi and self.alpha < self.alpha * 5/4 pi :
+             return(Direction.SOUTH)
+         else:
+             return(Direction.WEST)
+
+    def coordinates(self,delta_rota_l,delta_rota_r,Y_koord,X_koord): # worked as function outside the class
+        self.y= self.Y_koord
+        self.x= self.X_koord
+        self.wheel_center = (delta_rota_r + delta_rota_l) /2
+        self.alpha = ((self.delta_rotation_l * self._distance_per_tick - self.delta_rotation_r * self._distance_per_tick)/self._wheel_axis) + self.alpha
+        self.y = self.y + wheel_center * math.cos(alpha)
+        self.x = self.x + wheel_center * math.sin(alpha)
+        return(self.x,self.y)