Revision 4e393fcc

View differences:

scout/libscout/src/MotorControl.cpp
235 235
      case MOTOR_ABSOLUTE:/* Speed given as absolute */
236 236
        return rel_speed;
237 237
      case MOTOR_PERCENT:/* Convert from percentage */
238
        return rel_speed * MAXSPEED / 100;
238
        return rel_speed * MAXSPEED_ABS / 100.0;
239 239
      case MOTOR_MMS:/* Convert from mm/s */
240
        /** @todo Make math to do this conversion **/
241
        return rel_speed;
240
        return rel_speed * MAXSPEED_ABS * 100.0 / MAXSPEED_MPS;
242 241
      case MOTOR_CMS:/* Convert from cm/s */
243
        /** @todo Make math to do this conversion **/
244
        return rel_speed;
242
        return rel_speed * MAXSPEED_ABS * 10.0 / MAXSPEED_MPS;
245 243
      default: /* The units aren't recognized */
246
        /** @todo Decide on default case. Either percent or absolute. **/
244
        ROS_WARN("MotorControl::rel_to_abs used with default units.");
247 245
        return rel_speed;
248 246
    }
249 247
}
......
262 260
      case MOTOR_ABSOLUTE:/* Speed given as absolute */
263 261
        return abs_speed;
264 262
      case MOTOR_PERCENT:/* Convert from percentage */
265
        return abs_speed * 100 / MAXSPEED;
263
        return abs_speed * 100.0 / MAXSPEED_ABS;
266 264
      case MOTOR_MMS:/* Convert from mm/s */
267
        /** @todo Make math to do this conversion **/
268
        return abs_speed;
265
        return abs_speed * MAXSPEED_MPS / (MAXSPEED_ABS * 100.0);
269 266
      case MOTOR_CMS:/* Convert from cm/s */
270
        /** @todo Make math to do this conversion **/
271
        return abs_speed;
267
        return abs_speed * MAXSPEED_MPS / (MAXSPEED_ABS * 10.0);
272 268
      default: /* The units aren't recognized */
273
        /** @todo Decide on default case. Either percent or absolute. **/
269
        ROS_WARN("MotorControl::rel_to_abs used with default units.");
274 270
        return abs_speed;
275 271
    }
276 272
}
scout/libscout/src/MotorControl.h
65 65
#define MOTOR_LEFT_SPIN MOTOR_LEFT_REV | MOTOR_RIGHT
66 66
#define MOTOR_RIGHT_SPIN MOTOR_LEFT | MOTOR_RIGHT_REV
67 67

  
68
#define MAXSPEED 255
68
#define MAXSPEED_ABS 127.0f
69
#define MAXSPEED_MPS 1.0f
69 70
#define MOTOR_PERCENT 'p'
70 71
#define MOTOR_MMS 'm'
71 72
#define MOTOR_CMS 'c'

Also available in: Unified diff