/*
 * odometry.h
 *
 *  Created on: 5. 4. 2017
 *      Author: Steave
 */

#ifndef ODOMETRY_H_
#define ODOMETRY_H_
/*define constants in meters*/
#define WHEEL_DL  0.0748
#define WHEEL_DR  0.0754
#define TICKS_PER_REV_R 2400
#define TICKS_PER_REV_L 2400
#define SHAFT 0.15425
#define C_R	1.001619577

#define C_L	0.998380423

#define Eb	0.994930212



struct position
{
	int32_t ticksLeft;
	int32_t ticksRight;
	float pathLeft;
	float pathRight;
	float pathCenter;
	float angelDif;
	float arg;
	float angelDifHalf;
	float chordLenght;
	float wheelConstL;
	float wheelConstR;


	float angel;
	float angelOld;
	float angelDeg;
	float x;
	float y;

};

void InitPosStruct(struct position *pos);
void TikToPosition(struct position *pos);

#endif /* ODOMETRY_H_ */
