Odometry
My Code for the Odometry Task The program only relies on Odometry.ino for now. md25 class may become useful/useable at some point in the distant future.
DISCLAIMER: If you're looking to use this code for your Odometry Task in following years be aware of two things:
- The code didn't work. It might become useable. The main issues are:
- It was written accross a two week period in a rushed and sleep deprived state.
- In the function
void DriveTo
there is an inadvertantly unstable expression which has 2nd Order Gain Function. If you were really keen you could probably develop it into a stable PID controller.
- Proper attribution would have to be made for Academic Integrity Purposes.