merge odom complete

common/mb_defs.h

@@ -23,17 +23,10 @@
 #define LEFT_ENC_POL 1
 #define RIGHT_ENC_POL -1
 // TODO: Fill in physical propeties of robot
-<<<<<<< HEAD
 #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              0.158  // wheel separation distance in meters
-=======
-#define GEAR_RATIO              78  // gear ratio of motor
-#define ENCODER_RES             20 // encoder counts per motor shaft revolution
-#define WHEEL_DIAMETER          0.08 // diameter of wheel in meters
-#define WHEEL_BASE              0.0  // wheel separation distance in meters
->>>>>>> withlivecode
 #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

@@ -19,13 +19,9 @@
 *
 *******************************************************************************/
 void mb_initialize_odometry(mb_odometry_t* mb_odometry, float x, float y, float theta){
-<<<<<<< HEAD
     mb_odometry->x = x;
     mb_odometry->y = y;
     mb_odometry->theta = theta;
-=======
-
->>>>>>> origin/withlivecode
 }
 
 

mobilebot/mobilebot.c

@@ -168,12 +168,9 @@ void read_mb_sensors(){
 void publish_mb_msgs(){
     mbot_imu_t imu_msg;
     mbot_encoder_t encoder_msg;
-<<<<<<< HEAD
     odometry_t odo_msg;
-=======
     mbot_wheel_ctrl_t wheel_ctrl_msg; 
 //  odometry_t odo_msg;
->>>>>>> origin/withlivecode
 
     //Create IMU LCM Message
     imu_msg.utime = now;
@@ -210,12 +207,9 @@ void publish_mb_msgs(){
     //publish IMU & Encoder Data to LCM
     mbot_imu_t_publish(lcm, MBOT_IMU_CHANNEL, &imu_msg);
     mbot_encoder_t_publish(lcm, MBOT_ENCODER_CHANNEL, &encoder_msg);
-<<<<<<< HEAD
     odometry_t_publish(lcm, ODOMETRY_CHANNEL, &odo_msg);
-=======
     mbot_wheel_ctrl_t_publish(lcm,"MBOT_WHEEL_CTRL",&wheel_ctrl_msg);
 //  odometry_t_publish(lcm, ODOMETRY_CHANNEL, &odo_msg);
->>>>>>> origin/withlivecode
 }
 
 /*******************************************************************************
@@ -234,13 +228,10 @@ void publish_mb_msgs(){
 void mobilebot_controller(){
     update_now();
     read_mb_sensors();
-<<<<<<< HEAD
     // calculate odometry after update reading and defining sensors readings during each call-back
     // mb_odometry x,y,theta will be updated in mb_odoemtry.c
     mb_update_odometry(&mb_odometry, &mb_state) ;
-=======
     mb_controller_update(&mb_state,&mb_setpoints);
->>>>>>> origin/withlivecode
     publish_mb_msgs();
     rc_motor_set(LEFT_MOTOR,LEFT_MOTOR_POL*mb_state.left_cmd);
     rc_motor_set(RIGHT_MOTOR,RIGHT_MOTOR_POL*mb_state.right_cmd);