2 * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
14 * You should have received a copy of the GNU General Public License
15 * along with this program; if not, write to the Free Software
16 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
18 * Revision : $Id: angle_distance.c,v 1.4.4.4 2009-03-05 22:02:55 zer0 Exp $
22 #include "angle_distance.h"
25 * convert the values of wheels encoders (left, right) into (distance,
28 void rs_get_polar_from_wheels(struct rs_polar *p_dst, struct rs_wheels *w_src)
30 p_dst->distance = (w_src->right + w_src->left) / 2;
31 p_dst->angle = (w_src->right - w_src->left) / 2;
35 * convert (distance, angle) into (left, right)
37 void rs_get_wheels_from_polar(struct rs_wheels *w_dst, struct rs_polar *p_src)
39 w_dst->left = p_src->distance - p_src->angle;
40 w_dst->right = p_src->distance + p_src->angle;