Expose individual wheel distances and requested velocities. Fix wheel distance calculation for the Create 1.

include/create/create.h

@@ -73,8 +73,8 @@ namespace create {
 
       uint32_t prevTicksLeft;
       uint32_t prevTicksRight;
-      float prevLeftVel;
-      float prevRightVel;
+      float totalLeftDist;
+      float totalRightDist;
       bool firstOnData;
       util::timestamp_t prevOnDataTime;
 
@@ -444,6 +444,22 @@ namespace create {
        */
       bool isMovingForward() const;
 
+      /* Get the total distance (in meters) the left wheel has moved.
+       */
+      float getLeftWheelDistance() const;
+
+      /* Get the total distance (in meters) the right wheel has moved.
+       */
+      float getRightWheelDistance() const;
+
+      /* Get the requested velocity (in meters/sec) of the left wheel.
+       */
+      float getRequestedLeftWheelVel() const;
+
+      /* Get the requested velocity (in meters/sec) of the right wheel.
+       */
+      float getRequestedRightWheelVel() const;
+
       /* Get the current charging state.
        */
       create::ChargingState getChargingState() const;

include/create/util.h

@@ -40,6 +40,8 @@ POSSIBILITY OF SUCH DAMAGE.
 namespace create {
   namespace util {
 
+    static const float CREATE_1_AXLE_LENGTH = 0.26;
+
     static const uint8_t CREATE_2_HEADER = 19;
     static const float CREATE_2_AXLE_LENGTH = 0.235;
     static const float CREATE_2_TICKS_PER_REV = 508.8;