calibrate odometry

common/mb_defs.h

@@ -27,7 +27,7 @@
 #define GEAR_RATIO              78.0  // gear ratio of motor
 #define ENCODER_RES             20.0  // encoder counts per motor shaft revolution
 #define WHEEL_DIAMETER          0.084 // diameter of wheel in meters
-#define WHEEL_BASE              0.159  // wheel separation distance in meters
+#define WHEEL_BASE              0.161 // wheel separation distance in meters
 
 #define MAX_FWD_VEL             0.8   // maximum forwad speed (m/s)
 #define MAX_TURN_VEL            2.5   // maximum turning speed (rad/s)

common/mb_odometry.c

@@ -39,7 +39,7 @@ void mb_update_odometry(mb_odometry_t* mb_odometry, mb_state_t* mb_state){
     //del_thresh Needs to be tuned
     //IF DON'T WANT GYRO, SET IT AS F!
     float enc2meters = (WHEEL_DIAMETER * PI) / (GEAR_RATIO * ENCODER_RES);
-    float del_thresh = 0.1; //0.125/DT; 
+    float del_thresh = 100; //0.125/DT; 
     boolean Gyro = T;
     
     float del_left = mb_state->left_encoder_delta * 1.0 * enc2meters;