[Dprglist] Odometry Calculations

[Pat Caron]

As I am frantically revising code for my outdoor-bot for Robo Columbus, I
am trying to calculate position and pose.  As I am reviewing the notes from
David Anderson's excellent presentation I found the following and would
like to clear up a couple things.

left_inches = read_left_encoder() * LEFT_CLICKS_PER_INCH;

Can someone clarify if read_left_encoder() is this the cumulative encoder
count or the encoder count since the last check (delta count)?

The other question is left_inches = read_left_encoder() *
LEFT_CLICKS_PER_INCH.   Would this not be divided by  LEFT_CLICKS_PER_INCH?
distance one wheel = encoder count / clicks per inch

Regards,
Pat
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