Revision 6257c97d
| ID | 6257c97dd822231155108c01df3c40200eaa7c12 |
Continuing work on standardization of units.
| scout/scoutsim/src/scout.cpp | ||
|---|---|---|
| 113 | 113 |
sonar_tick_time = ros::Duration(scoutsim::SONAR_HALF_SPIN_TIME / 24.0); |
| 114 | 114 |
} |
| 115 | 115 |
|
| 116 |
float Scout::absolute_to_mps(int absolute_speed) |
|
| 117 |
{
|
|
| 118 |
return ((float) absolute_speed) * MAX_SPEED_MPS / MAX_ABSOLUTE_SPEED; |
|
| 119 |
} |
|
| 120 |
|
|
| 116 | 121 |
/** |
| 117 | 122 |
* A callback function that sets velocity based on a set_motors |
| 118 | 123 |
* request. |
| ... | ... | |
| 124 | 129 |
|
| 125 | 130 |
if(msg->fl_set) |
| 126 | 131 |
{
|
| 127 |
motor_fl_speed = msg->fl_speed;
|
|
| 132 |
motor_fl_speed = absolute_to_mps(msg->fl_speed);
|
|
| 128 | 133 |
} |
| 129 | 134 |
if(msg->fr_set) |
| 130 | 135 |
{
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| 131 |
motor_fr_speed = msg->fr_speed;
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| 136 |
motor_fr_speed = absolute_to_mps(msg->fr_speed);
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|
| 132 | 137 |
} |
| 133 | 138 |
if(msg->bl_set) |
| 134 | 139 |
{
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| 135 |
motor_bl_speed = msg->bl_speed;
|
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| 140 |
motor_bl_speed = absolute_to_mps(msg->bl_speed);
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|
| 136 | 141 |
} |
| 137 | 142 |
if(msg->br_set) |
| 138 | 143 |
{
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| 139 |
motor_br_speed = msg->br_speed;
|
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| 144 |
motor_br_speed = absolute_to_mps(msg->br_speed);
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|
| 140 | 145 |
} |
| 141 | 146 |
} |
| 142 | 147 |
|
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