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AP_WheelEncoder: add get_delta_angle 

The total angular change measured by the wheel encoder in radians
This commit is contained in:
Randy Mackay 2017-07-20 15:11:45 +09:00
parent a53e254bd0
commit 2c7b9d9cf7
2 changed files with 14 additions and 4 deletions
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13
libraries/AP_WheelEncoder/AP_WheelEncoder.cpp
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@ -237,8 +237,8 @@ Vector3f AP_WheelEncoder::get_position(uint8_t instance) const
return _pos_offset[instance];
}
// get the total distance traveled in meters
float AP_WheelEncoder::get_distance(uint8_t instance) const
// get total delta angle (in radians) measured by the wheel encoder
float AP_WheelEncoder::get_delta_angle(uint8_t instance) const
{
// for invalid instances return zero
if (instance >= WHEELENCODER_MAX_INSTANCES) {
@ -248,7 +248,14 @@ float AP_WheelEncoder::get_distance(uint8_t instance) const
if (_counts_per_revolution[instance] == 0) {
return 0.0f;
}
return M_2PI * _wheel_radius[instance] * state[instance].distance_count / _counts_per_revolution[instance];
return M_2PI * state[instance].distance_count / _counts_per_revolution[instance];
}
// get the total distance traveled in meters
float AP_WheelEncoder::get_distance(uint8_t instance) const
{
// for invalid instances return zero
return get_delta_angle(instance) * _wheel_radius[instance];
}
// get the total number of sensor reading from the encoder

5
libraries/AP_WheelEncoder/AP_WheelEncoder.h
View File

@ -74,7 +74,10 @@ public:
// get the position of the wheel associated with the wheel encoder
Vector3f get_position(uint8_t instance) const;
// get the total distance traveled in meters
// get total delta angle (in radians) measured by the wheel encoder
float get_delta_angle(uint8_t instance) const;
// get the total distance traveled in meters or radians
float get_distance(uint8_t instance) const;
// get the total number of sensor reading from the encoder