ECE-370: Odometry

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Due: 2019-04-08

The goal of this homework is to implement odometry calculations on your uC using the analytical method and using the matrix method.

Todo:

  • Create an interrupt based method of calculating your x,y,theta_z location (in reference to where you started moving)
  • Implement the latter using the analytical method
  • Implement the latter using the matrix method
  • All of the latter should be on your uC

Note: Because you have not made your chassis yet please keep your baseline and your wheel radius as a #define.

Show me:

  • Short write up of how each part works (include diagrams)
  • Neatly commented and explained code within your report for both methods
  • Show how you would include your IMU in the calculations to estimate your x,y,z,theta_x,theta_,theta_z location
  • Provide github links to your software.