\section{aversive\_\-10-03-12/modules/devices/robot/robot\_\-system/angle\_\-distance.c File Reference}
\label{angle__distance_8c}\index{aversive\_\-10-03-12/modules/devices/robot/robot\_\-system/angle\_\-distance.c@{aversive\_\-10-03-12/modules/devices/robot/robot\_\-system/angle\_\-distance.c}}
{\tt \#include \char`\"{}angle\_\-distance.h\char`\"{}}\par
\subsection*{Functions}
\begin{CompactItemize}
\item 
void {\bf rs\_\-get\_\-polar\_\-from\_\-wheels} (struct {\bf rs\_\-polar} $\ast$p\_\-dst, struct {\bf rs\_\-wheels} $\ast$w\_\-src)
\item 
void {\bf rs\_\-get\_\-wheels\_\-from\_\-polar} (struct {\bf rs\_\-wheels} $\ast$w\_\-dst, struct {\bf rs\_\-polar} $\ast$p\_\-src)
\end{CompactItemize}


\subsection{Function Documentation}
\index{angle\_\-distance.c@{angle\_\-distance.c}!rs\_\-get\_\-polar\_\-from\_\-wheels@{rs\_\-get\_\-polar\_\-from\_\-wheels}}
\index{rs\_\-get\_\-polar\_\-from\_\-wheels@{rs\_\-get\_\-polar\_\-from\_\-wheels}!angle_distance.c@{angle\_\-distance.c}}
\subsubsection[rs\_\-get\_\-polar\_\-from\_\-wheels]{\setlength{\rightskip}{0pt plus 5cm}void rs\_\-get\_\-polar\_\-from\_\-wheels (struct {\bf rs\_\-polar} $\ast$ {\em p\_\-dst}, \/  struct {\bf rs\_\-wheels} $\ast$ {\em w\_\-src})}\label{angle__distance_8c_05ec38dfe70e638988f81669729247f0}


convert the values of wheels encoders (left, right) into (distance, angle) 

Definition at line 28 of file angle\_\-distance.c.

References rs\_\-polar::angle, rs\_\-polar::distance, rs\_\-wheels::left, and rs\_\-wheels::right.

Referenced by rs\_\-update().\index{angle\_\-distance.c@{angle\_\-distance.c}!rs\_\-get\_\-wheels\_\-from\_\-polar@{rs\_\-get\_\-wheels\_\-from\_\-polar}}
\index{rs\_\-get\_\-wheels\_\-from\_\-polar@{rs\_\-get\_\-wheels\_\-from\_\-polar}!angle_distance.c@{angle\_\-distance.c}}
\subsubsection[rs\_\-get\_\-wheels\_\-from\_\-polar]{\setlength{\rightskip}{0pt plus 5cm}void rs\_\-get\_\-wheels\_\-from\_\-polar (struct {\bf rs\_\-wheels} $\ast$ {\em w\_\-dst}, \/  struct {\bf rs\_\-polar} $\ast$ {\em p\_\-src})}\label{angle__distance_8c_402db8945268bb6fb6fd30a51603e955}


convert (distance, angle) into (left, right) 

Definition at line 37 of file angle\_\-distance.c.

References rs\_\-polar::angle, rs\_\-polar::distance, rs\_\-wheels::left, and rs\_\-wheels::right.

Referenced by rs\_\-set\_\-angle(), rs\_\-set\_\-distance(), and rs\_\-update().