Odometry¶

Class Documentation¶

class compLib.Odom.Odometry(x, y, orientation)¶

DTO used for holding all odometry information.

Coordinate system:

X: + Forward; - Backwards

Y: + Right; - Left

Orientation: + Right; - Left

get_orientation() → float¶: Returns degrees turned in radians

get_x() → float¶: Returns distance driven on x-axis in meters

get_y() → float¶: Returns distance driven on y-axis in meters

class compLib.Odom.Odom¶

Class used to track the movement of the robot in X, Y, Theta (Orientation)

static clear() → None¶: Clears the current odometry information and start from X, Y, Orientation set to 0

static get_odom() → compLib.Odom.Odometry ¶

Returns: Current orientation of the robot

static update() → None¶: Updates the current odometry information of the robot, Should be called in a loop with at least 100HZ. Do not clear encoder positions between updates! Must be cleared, when clearing encoders!

Examples¶

Getting actual distance driven¶

import time
import math
from compLib.Motor import Motor
from compLib.Encoder import Encoder
from compLib.Odom import Odom, Odometry

 # distance in meters
 # speed in % of max speed
 def drive_example(distance, speed):
     Odom.update()
     odom = Odom.get_odom()
     while abs(odom.get_x()) < distance:
         Odom.update()
         odom = Odom.get_odom()

         Motor.power(4, speed)
         Motor.power(1, -speed)

     print(f" Forward: {odom.get_x()} m")
     print(f" Right: {odom.get_y()} m")
     print(f" Turned: {math.degrees(odom.get_orientation())} degrees")

     Motor.active_break(1)
     Motor.active_break(4)
     time.sleep(0.1)
     Encoder.clear_all()
     Odom.clear()