Matlab class for Paris Mines Rover

Matlab binary for OS X

examples/MinesRover.m

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+classdef MinesRover < WheeledRobot
+    %MinesRover Class for MinesRover custom robot
+    %
+    %    Copyright (C) 2014 Simon D. Levy
+    % 
+    %    This code is free software: you can redistribute it and/or modify
+    %    it under the terms of the GNU Lesser General Public License as 
+    %    published by the Free Software Foundation, either version 3 of the 
+    %    License, or (at your option) any later version.
+    % 
+    %    This code is distributed in the hope that it will be useful,     
+    %    but WITHOUT ANY WARRANTY without even the implied warranty of
+    %    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    %    GNU General Public License for more details.
+    % 
+    %    You should have received a copy of the GNU Lesser General Public License 
+    %    along with this code.  If not, see <http:#www.gnu.org/licenses/>.
+   
+    properties (Access = 'private')
+        TICKS_PER_CYCLE = 2000;
+    end
+    
+    methods (Access = 'private')
+        
+        function degrees = ticks_to_degrees(obj, ticks)
+            
+            degrees = ticks * (180. / obj.TICKS_PER_CYCLE);
+            
+        end
+        
+    end
+    
+    methods  (Access = 'public')
+        
+        function robot = MinesRover()
+            
+            robot = robot@WheeledRobot(77, 165);
+            
+        end
+        
+        function disp(obj)
+            % Displays information about this MinesRover
+            
+            fprintf('<%s ticks_per_cycle=%d>\n', obj.str(), obj.TICKS_PER_CYCLE)
+            
+        end
+        
+        function [velocities, obj] = computeVelocities(obj, odometry)
+            
+            [velocities, obj] = computeVelocities@WheeledRobot(obj, odometry(1), odometry(2), odometry(3));
+            
+        end
+        
+        function [timestampSeconds, leftWheelDegrees, rightWheelDegrees] = ...
+                extractOdometry(obj, timestamp, leftWheel, rightWheel)
+            
+            % Convert microseconds to seconds
+            timestampSeconds = timestamp / 1e6;
+            
+            % Convert ticks to angles
+            leftWheelDegrees = obj.ticks_to_degrees(leftWheel);
+            rightWheelDegrees = obj.ticks_to_degrees(rightWheel);
+            
+        end
+        
+    end
+    
+end
+