Tried to merge FFT and doppler shift implementations finally

Yea….. This is the only thing done in past 10 hours of work, but lemme explain how hard it is.
This will be a weird analogy but hear me out.

Imagine a robot, it can use sonar to keep a map of things around it and use the change in reflections and finally knows its own change in position. It’s absolute for knowing the surroundings around you, but it drifts overtime.

Meanwhile a simple tracker using wheel can tell you change in location. But you can’t get information about surroundings.
So they both are merged so that the drifting of sonar is stopped.

I’m applying doppler shift in the same way, since it detects only the change, we can use it to correct the positions acquired by FFT implementation.

Hope you all get it, ofcourse its not correctly working right now, so i’ll work on it.