Revision 7f095440
Sepearated refresh rate for scouts and for the simulator.
| scout/scoutsim/src/scout.cpp | ||
|---|---|---|
| 410 | 410 |
float r_speed = (float (motor_fr_speed + motor_br_speed)) / 2; |
| 411 | 411 |
|
| 412 | 412 |
// Find linear and angular movement in m |
| 413 |
float lin_dist = SCOUTSIM_REFRESH_RATE * (l_speed + r_speed) / 2;
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| 414 |
float ang_dist = SCOUTSIM_REFRESH_RATE * (r_speed - l_speed);
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| 413 |
float lin_dist = SIM_TIME_REFRESH_RATE * (l_speed + r_speed) / 2;
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| 414 |
float ang_dist = SIM_TIME_REFRESH_RATE * (r_speed - l_speed);
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| 415 | 415 |
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| 416 | 416 |
Vector2 old_pos = pos; |
| 417 | 417 |
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| 418 | 418 |
// Update encoders |
| 419 |
fl_ticks += (unsigned int) (motor_fl_speed * SCOUTSIM_REFRESH_RATE *
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| 419 |
fl_ticks += (unsigned int) (motor_fl_speed * SIM_TIME_REFRESH_RATE *
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| 420 | 420 |
ENCODER_TICKS_PER_METER); |
| 421 |
fr_ticks += (unsigned int) (motor_fr_speed * SCOUTSIM_REFRESH_RATE *
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| 421 |
fr_ticks += (unsigned int) (motor_fr_speed * SIM_TIME_REFRESH_RATE *
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| 422 | 422 |
ENCODER_TICKS_PER_METER); |
| 423 |
bl_ticks += (unsigned int) (motor_bl_speed * SCOUTSIM_REFRESH_RATE *
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| 423 |
bl_ticks += (unsigned int) (motor_bl_speed * SIM_TIME_REFRESH_RATE *
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| 424 | 424 |
ENCODER_TICKS_PER_METER); |
| 425 |
br_ticks += (unsigned int) (motor_br_speed * SCOUTSIM_REFRESH_RATE *
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| 425 |
br_ticks += (unsigned int) (motor_br_speed * SIM_TIME_REFRESH_RATE *
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| 426 | 426 |
ENCODER_TICKS_PER_METER); |
| 427 | 427 |
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| 428 | 428 |
orient = fmod((float) (orient + ang_dist), (float) (2.0 * PI)); |
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