From: petr <silhavik.p@gmail.com>
Date: Mon, 7 May 2012 21:48:20 +0000 (+0200)
Subject: Odometry autocalibration
X-Git-Url: http://rtime.felk.cvut.cz/gitweb/eurobot/public.git/commitdiff_plain/4c7554fa70022b7a485a6dad66564394b84da159?hp=b6d168ef35f00341799d5ed63b1d25633031ff17

Odometry autocalibration


Updated saving calibration data for better reading. Left column for left odometry wheel and right for right odometry wheel.
---

diff --git a/src/robofsm/common-states.cc b/src/robofsm/common-states.cc
index 8914ecfe..7556727b 100644
--- a/src/robofsm/common-states.cc
+++ b/src/robofsm/common-states.cc
@@ -451,7 +451,7 @@ FSM_STATE(go_back_for_cal)
 			file = fopen ("odometry_cal_data","a+");
 			sprintf(buffer, "%4.4f", -1/x1);
 			fputs (buffer,file);
-			fputs ("\n", file);
+			fputs (" ", file);
 			sprintf(buffer, "%4.4f", -1/y1);
 			fputs (buffer,file);
 			fputs ("\n", file);
diff --git a/src/robofsm/robot.c b/src/robofsm/robot.c
index c4fc0346..57e690a8 100644
--- a/src/robofsm/robot.c
+++ b/src/robofsm/robot.c
@@ -300,14 +300,14 @@ void robot_calibrate_odometry()
 		fprintf(stderr, "File not found. \n\n");
 		return;
 	}
-	char line [10];
+	char line [15];
 	float a = 0;
 	float b = 0;
 	int num = 0;
-	while (fgets (line, 10 , file)) {
-		a += atof(line);
-		fgets (line, 10 , file);
-		b += atof(line);
+	while (fgets (line, 15 , file)) {
+		a += atof(strtok(line," "));
+		fgets (line, 15 , file);
+		b += atof(strtok(NULL," "));
 		num ++;
 	}
 	fclose (file);