Revision 7f095440 scout/scoutsim/src/scout.cpp
scout/scoutsim/src/scout.cpp  

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float r_speed = (float (motor_fr_speed + motor_br_speed)) / 2; 
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// Find linear and angular movement in m 
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float lin_dist = SCOUTSIM_REFRESH_RATE * (l_speed + r_speed) / 2;


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float ang_dist = SCOUTSIM_REFRESH_RATE * (r_speed  l_speed);


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float lin_dist = SIM_TIME_REFRESH_RATE * (l_speed + r_speed) / 2;


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float ang_dist = SIM_TIME_REFRESH_RATE * (r_speed  l_speed);


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Vector2 old_pos = pos; 
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// Update encoders 
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fl_ticks += (unsigned int) (motor_fl_speed * SCOUTSIM_REFRESH_RATE *


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fl_ticks += (unsigned int) (motor_fl_speed * SIM_TIME_REFRESH_RATE *


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ENCODER_TICKS_PER_METER); 
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fr_ticks += (unsigned int) (motor_fr_speed * SCOUTSIM_REFRESH_RATE *


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fr_ticks += (unsigned int) (motor_fr_speed * SIM_TIME_REFRESH_RATE *


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ENCODER_TICKS_PER_METER); 
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bl_ticks += (unsigned int) (motor_bl_speed * SCOUTSIM_REFRESH_RATE *


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bl_ticks += (unsigned int) (motor_bl_speed * SIM_TIME_REFRESH_RATE *


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ENCODER_TICKS_PER_METER); 
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br_ticks += (unsigned int) (motor_br_speed * SCOUTSIM_REFRESH_RATE *


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br_ticks += (unsigned int) (motor_br_speed * SIM_TIME_REFRESH_RATE *


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ENCODER_TICKS_PER_METER); 
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orient = fmod((float) (orient + ang_dist), (float) (2.0 * PI)); 
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