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#ifndef PIf
#	define PIf 3.14159265f
#endif


float dx, dy, dtheta;


base_deadreckon_response_t resp;


resp.base_dx_mm_q16 = (_s32)(dx * 1000 * 65536);
resp.base_dy_mm_q16 = (_s32)(dy * 1000 * 65536);
resp.base_dtheta_degree_q16 = (_s32)(dtheta * 180 / PIf * 65536);
resp.status_bitmap = 0; // 这个字段用以报告轮组的异常状态，请务必都填0

// 假设机器人是布局a


#ifndef PIf
#	define PIf 3.14159265f
#endif


#define COS30f	0.86602540f
#define SIN32f  0.5f
#define R		0.18f  // robot radius: 18cm


static float wheel_odometer[3];


static void on_set_v_and_get_deadreckon(const base_set_velocity_request_t& req, base_deadreckon_response_t& resp)
{
    // calculate response
    float current_wheel_odometer[3];
    motion_get_wheel_odometer(current_wheel_odometer);


    float da = current_wheel_odometer[0] - wheel_odometer[0];
    float db = current_wheel_odometer[1] - wheel_odometer[1];
    float dc = current_wheel_odometer[2] - wheel_odometer[2];

	memcpy(wheel_odometer, current_wheel_odometer, sizeof(current_wheel_odometer));


    float dx = (db * COS30f - dc * COS30f) / 2
	float dy = (-da + db * SIN32f + dc * SIN30f) / 3
	float dtheta = (da + db + dc) / 3


	resp.base_dx_mm_q16 = (_s32)(dx * 1000 * 65536);
	resp.base_dy_mm_q16 = (_s32)(dy * 1000 * 65536);
	resp.base_dtheta_degree_q16 = (_s32)(dtheta * 180 / PIf * 65536);
	resp.status_bitmap = 0; // 这个字段用以报告轮组的异常状态，请务必都填0

	// calculate wheel speed
	float vx = req.velocity_x_q16 / 65536.f;
	float vy = req.velocity_y_q16 / 65536.f;
	float omega = req.angular_velocity_q16 / 65536.f;


	float va = vy + R * omega;
	float vb = - vx / COS30f - vy / SIN30f + R * omega;
	float vc = vx / COS30f - vy / SIN30f + R * omega;


	motion_set_whell_speed(va, vb, vc);
}