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<li class="toctree-l3"><a class="reference internal" href="#getting-actual-distance-driven">Getting actual distance driven</a></li>
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<div class="section" id="odometry">
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<span id="lib-odom"></span><h1>Odometry<a class="headerlink" href="#odometry" title="Permalink to this headline">¶</a></h1>
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<div class="section" id="class-documentation">
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<h2>Class Documentation<a class="headerlink" href="#class-documentation" title="Permalink to this headline">¶</a></h2>
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<dl class="py class">
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<dt id="compLib.Odom.Odometry">
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<em class="property">class </em><code class="sig-prename descclassname">compLib.Odom.</code><code class="sig-name descname">Odometry</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">x</span></em>, <em class="sig-param"><span class="n">y</span></em>, <em class="sig-param"><span class="n">orientation</span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Odom.Odometry" title="Permalink to this definition">¶</a></dt>
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<dd><p>DTO used for holding all odometry information.</p>
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<p>Coordinate system:</p>
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<blockquote>
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<div><p>X: + Forward; - Backwards</p>
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<p>Y: + Right; - Left</p>
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<p>Orientation: + Right; - Left</p>
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</div></blockquote>
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<dl class="py method">
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<dt id="compLib.Odom.Odometry.get_orientation">
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<code class="sig-name descname">get_orientation</code><span class="sig-paren">(</span><span class="sig-paren">)</span> → float<a class="headerlink" href="#compLib.Odom.Odometry.get_orientation" title="Permalink to this definition">¶</a></dt>
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<dd><p>Returns degrees turned in radians</p>
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</dd></dl>
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<dl class="py method">
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<dt id="compLib.Odom.Odometry.get_x">
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<code class="sig-name descname">get_x</code><span class="sig-paren">(</span><span class="sig-paren">)</span> → float<a class="headerlink" href="#compLib.Odom.Odometry.get_x" title="Permalink to this definition">¶</a></dt>
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<dd><p>Returns distance driven on x-axis in meters</p>
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</dd></dl>
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<dl class="py method">
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<dt id="compLib.Odom.Odometry.get_y">
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<code class="sig-name descname">get_y</code><span class="sig-paren">(</span><span class="sig-paren">)</span> → float<a class="headerlink" href="#compLib.Odom.Odometry.get_y" title="Permalink to this definition">¶</a></dt>
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<dd><p>Returns distance driven on y-axis in meters</p>
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</dd></dl>
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</dd></dl>
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<dl class="py class">
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<dt id="compLib.Odom.Odom">
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<em class="property">class </em><code class="sig-prename descclassname">compLib.Odom.</code><code class="sig-name descname">Odom</code><a class="headerlink" href="#compLib.Odom.Odom" title="Permalink to this definition">¶</a></dt>
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<dd><p>Class used to track the movement of the robot in X, Y, Theta (Orientation)</p>
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<dl class="py method">
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<dt id="compLib.Odom.Odom.clear">
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<em class="property">static </em><code class="sig-name descname">clear</code><span class="sig-paren">(</span><span class="sig-paren">)</span> → None<a class="headerlink" href="#compLib.Odom.Odom.clear" title="Permalink to this definition">¶</a></dt>
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<dd><p>Clears the current odometry information and start from X, Y, Orientation set to 0</p>
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</dd></dl>
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<dl class="py method">
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<dt id="compLib.Odom.Odom.get_odom">
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<em class="property">static </em><code class="sig-name descname">get_odom</code><span class="sig-paren">(</span><span class="sig-paren">)</span> → <a class="reference internal" href="#compLib.Odom.Odometry" title="compLib.Odom.Odometry">compLib.Odom.Odometry</a><a class="headerlink" href="#compLib.Odom.Odom.get_odom" title="Permalink to this definition">¶</a></dt>
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<dd><dl class="field-list simple">
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<dt class="field-odd">Returns</dt>
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<dd class="field-odd"><p>Current orientation of the robot</p>
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</dd>
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</dl>
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</dd></dl>
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<dl class="py method">
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<dt id="compLib.Odom.Odom.update">
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<em class="property">static </em><code class="sig-name descname">update</code><span class="sig-paren">(</span><span class="sig-paren">)</span> → None<a class="headerlink" href="#compLib.Odom.Odom.update" title="Permalink to this definition">¶</a></dt>
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<dd><p>Updates the current odometry information of the robot, Should be called in a loop with at least 100HZ.
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Do not clear encoder positions between updates! Must be cleared, when clearing encoders!</p>
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</dd></dl>
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</dd></dl>
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</div>
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<div class="section" id="examples">
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<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline">¶</a></h2>
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<div class="section" id="getting-actual-distance-driven">
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<h3>Getting actual distance driven<a class="headerlink" href="#getting-actual-distance-driven" title="Permalink to this headline">¶</a></h3>
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<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">time</span>
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<span class="kn">import</span> <span class="nn">math</span>
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<span class="kn">from</span> <span class="nn">compLib.Motor</span> <span class="kn">import</span> <span class="n">Motor</span>
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<span class="kn">from</span> <span class="nn">compLib.Encoder</span> <span class="kn">import</span> <span class="n">Encoder</span>
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<span class="kn">from</span> <span class="nn">compLib.Odom</span> <span class="kn">import</span> <span class="n">Odom</span><span class="p">,</span> <span class="n">Odometry</span>
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<span class="c1"># distance in meters</span>
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<span class="c1"># speed in % of max speed</span>
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<span class="k">def</span> <span class="nf">drive_example</span><span class="p">(</span><span class="n">distance</span><span class="p">,</span> <span class="n">speed</span><span class="p">):</span>
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<span class="n">Odom</span><span class="o">.</span><span class="n">update</span><span class="p">()</span>
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<span class="n">odom</span> <span class="o">=</span> <span class="n">Odom</span><span class="o">.</span><span class="n">get_odom</span><span class="p">()</span>
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<span class="k">while</span> <span class="nb">abs</span><span class="p">(</span><span class="n">odom</span><span class="o">.</span><span class="n">get_x</span><span class="p">())</span> <span class="o"><</span> <span class="n">distance</span><span class="p">:</span>
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<span class="n">Odom</span><span class="o">.</span><span class="n">update</span><span class="p">()</span>
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<span class="n">odom</span> <span class="o">=</span> <span class="n">Odom</span><span class="o">.</span><span class="n">get_odom</span><span class="p">()</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">4</span><span class="p">,</span> <span class="n">speed</span><span class="p">)</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="o">-</span><span class="n">speed</span><span class="p">)</span>
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<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">" Forward: </span><span class="si">{</span><span class="n">odom</span><span class="o">.</span><span class="n">get_x</span><span class="p">()</span><span class="si">}</span><span class="s2"> m"</span><span class="p">)</span>
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<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">" Right: </span><span class="si">{</span><span class="n">odom</span><span class="o">.</span><span class="n">get_y</span><span class="p">()</span><span class="si">}</span><span class="s2"> m"</span><span class="p">)</span>
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<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">" Turned: </span><span class="si">{</span><span class="n">math</span><span class="o">.</span><span class="n">degrees</span><span class="p">(</span><span class="n">odom</span><span class="o">.</span><span class="n">get_orientation</span><span class="p">())</span><span class="si">}</span><span class="s2"> degrees"</span><span class="p">)</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">active_break</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">active_break</span><span class="p">(</span><span class="mi">4</span><span class="p">)</span>
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<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">0.1</span><span class="p">)</span>
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<span class="n">Encoder</span><span class="o">.</span><span class="n">clear_all</span><span class="p">()</span>
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<span class="n">Odom</span><span class="o">.</span><span class="n">clear</span><span class="p">()</span>
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</pre></div>
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