AMiRo-OS

#ifndef AMIRO_ODOMETRY_H_

#define AMIRO_ODOMETRY_H_

#include <amiro/MotorControl.h>

#include <amiro/gyro/l3g4200d.hpp>

#include <Types.h> // types::position

namespace amiro {

  class Odometry : public chibios_rt::BaseStaticThread<1024> {

  public:

    /**

     * Constructor

     *

     * @param mi object for retrieving the motor increments of the qei

     * @param gyro object for retrieving the gyroscope data

     * @param mc object for retrieving calibration parameters

     */

    Odometry(MotorIncrements* mi, L3G4200D* gyroscope);

    /**

     * Set the position of the roboter

     *

     * @param pX Position x in meter

     * @param pY Position y in meter

     * @param pPhi Orientation phi in radiant

     */

    void setPosition(float pX, float pY, float pPhi);

    /**

     * Reset the position to [0,0,0]

     */

    void resetPosition();

    /**

     * Set the position of the roboter

     *

     * @param *Cp

     */

    void setError(float* Cp);

    /**

     * Reset the error to [0,0,0;0,0,0;0,0,0]

     */

    void resetError();

    /**

     * Updates the wheelBaseDistance variable,

     * because it may change after an calibration.

     */

    void updateWheelBaseDistance();

    /**

     * Get the current position

     * @return position

     */

    types::position getPosition();

    chibios_rt::EvtSource* getEventSource();

  protected:

    virtual msg_t main(void);

  private:

    /**

     * Calculate the actual distance of both wheels

     */

    void updateDistance();

    /**

     * This is th PID controller for controling

     * the speed. It gets the new duty cicle for the pwm

     * and saves it to this->pwmPercentage to reach the

     * target speed this->targetSpeed

     */

    void updateOdometry();

    MotorIncrements* motorIncrements; // QEI driver

    L3G4200D* gyro;  // Gyroscope driver

    chibios_rt::EvtSource eventSource;

    const unsigned int period;

    int incrementsPerRevolution;

    int updatesPerMinute;

    float wheelCircumference; // wheel circumference in meter

    float wheelBaseDistanceSI; // Base width in meter

    float distance[2]; // Moved distance per wheel in meter left:0 right:1

    float wheelError[2]; // error for left:0 and right:1 wheel

    float pX, pY; // Position in meter

    float pPhi; // Orientation in Rad

    float Cp3x3[9];  // Covariance (position error) (3x3 matrix)

    int32_t increment[2]; // Absolute number of difference since last update

    float incrementDifference[2]; // Difference between old and current absolute increments

  };

}

#endif /* AMIRO_ODOMETRY_ */