Revision 6257c97d scout/scoutsim/src/scout.cpp

View differences:

scout/scoutsim/src/scout.cpp
113 113
        sonar_tick_time = ros::Duration(scoutsim::SONAR_HALF_SPIN_TIME / 24.0);
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    }
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    float Scout::absolute_to_mps(int absolute_speed)
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    {
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        return ((float) absolute_speed) * MAX_SPEED_MPS / MAX_ABSOLUTE_SPEED;
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    }
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    /**
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     * A callback function that sets velocity based on a set_motors
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     * request.
......
124 129

  
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        if(msg->fl_set)
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        {
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            motor_fl_speed = msg->fl_speed;
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            motor_fl_speed = absolute_to_mps(msg->fl_speed);
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        }
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        if(msg->fr_set)
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        {
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            motor_fr_speed = msg->fr_speed;
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            motor_fr_speed = absolute_to_mps(msg->fr_speed);
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        }
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        if(msg->bl_set)
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        {
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            motor_bl_speed = msg->bl_speed;
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            motor_bl_speed = absolute_to_mps(msg->bl_speed);
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        }
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        if(msg->br_set)
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        {
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            motor_br_speed = msg->br_speed;
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            motor_br_speed = absolute_to_mps(msg->br_speed);
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        }
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    }
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