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Update comment and change drive calculations to be correct
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gstrenge authored and nwdepatie committed Apr 5, 2024
1 parent 54ae3f7 commit 5ffcbd4
Showing 2 changed files with 5 additions and 5 deletions.
8 changes: 4 additions & 4 deletions mercury-app/src/hw_ifc/src/chassis_model.rs
Original file line number Diff line number Diff line change
@@ -74,11 +74,11 @@ impl ChassisModel {
rosrust::ros_info!("Angular Speed: {} m/s", angular_speed);
rosrust::ros_info!("Wheel Radius: {} m", self.wheel_radius);

cmds[WheelPositions::LeftWheels].speed = (linear_speed / (2.0 * PI * self.wheel_radius))
+ (angular_speed / (2.0 * self.wheel_radius));
cmds[WheelPositions::LeftWheels].speed = linear_speed + (angular_speed * (self.width as f64)) / 2.0;
cmds[WheelPositions::RightWheels].speed = linear_speed - (angular_speed * (self.width as f64)) / 2.0;

cmds[WheelPositions::RightWheels].speed = (linear_speed / (2.0 * PI * self.wheel_radius))
- (angular_speed / (2.0 * self.wheel_radius));
cmds[WheelPositions::LeftWheels].speed /= self.wheel_radius;
cmds[WheelPositions::RightWheels].speed /= self.wheel_radius;

rosrust::ros_info!(
"Left Vel/Speed: {} rad/s, Right Vel/Speed: {} rad/s",
2 changes: 1 addition & 1 deletion mercury-app/src/hw_ifc/src/drive_sub.rs
Original file line number Diff line number Diff line change
@@ -13,7 +13,7 @@ use self::regmap::{
use zynq::axigpio::{GPIOChannel, AXIGPIO, SIZEOF_AXIGPIO_REG};
use zynq::axitimer::{AXITimer, SIZEOF_AXITIMER_REG};

const MAX_LINEAR_SPEED: f64 = 100.0; /* meters/second */
const MAX_LINEAR_SPEED: f64 = 100.0; /* radians/second */
const MAX_ANGULAR_SPEED: f64 = 100.0; /* radians/second */
const WHEEL_RADIUS: f64 = 0.095; /* meters */
const BOT_WIDTH: f32 = 0.20; /* meters */

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