Revision 2237e1f0

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scout/motors/msg/set_motors.msg
5 5
bool br_set
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bool teleop_ON
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# The absolute motor speeds to set (-128 to 127)
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# TODO check that this is the correct range
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# The absolute motor speeds to set
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int8 fl_speed
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int8 fr_speed
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int8 bl_speed
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int8 br_speed
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int8 MAX_SPEED = 100
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int8 MIN_SPEED = -100
scout/scoutsim/src/scout_constants.h
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#ifndef _SCOUTSIM_SCOUT_CONSTANTS_
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#define _SCOUTSIM_SCOUT_CONSTANTS_
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#include <motors/set_motors.h>
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/// TODO put these in a utility file somewhere?
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#define min(x,y) ((x < y) ? x : y)
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#define max(x,y) ((x > y) ? x : y)
......
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namespace scoutsim
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{
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    // Maximum speed which will be sent to scoutsim in absolute units
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    const int MAX_ABSOLUTE_SPEED = 127;
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    const int MIN_ABSOLUTE_SPEED = -128;
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    const int MAX_ABSOLUTE_SPEED = motors::set_motors::MAX_SPEED;
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    const int MIN_ABSOLUTE_SPEED = motors::set_motors::MIN_SPEED;
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    // Speed in m/s corresponding to maximum absolute speed
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    const float MAX_SPEED_MPS = 1.0;
scout/scoutsim/src/sim_frame.h
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#define ID_TELEOP_PRECISE 8
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#define ID_TELEOP_FLUID 9
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// Absolute speeds (-128 - 127)
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// Absolute speeds (-100 - 100)
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/// @todo: Clean this up a little; we should be risking overflowing shorts.
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#define TELEOP_PRECISE_SPEED 60
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#define TELEOP_PRECISE_TURN_SPEED 124
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#define TELEOP_FLUID_MAX_SPEED 100
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#define TELEOP_FLUID_INC 8
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#define TELEOP_PRECISE_SPEED 47
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#define TELEOP_PRECISE_TURN_SPEED 98
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#define TELEOP_FLUID_MAX_SPEED 79
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#define TELEOP_FLUID_INC 6
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// Teleop types
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#define TELEOP_OFF 0

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