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

View differences:

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;
414
        float ang_dist = SCOUTSIM_REFRESH_RATE * (r_speed - l_speed);
413
        float lin_dist = SIM_TIME_REFRESH_RATE * (l_speed + r_speed) / 2;
414
        float ang_dist = SIM_TIME_REFRESH_RATE * (r_speed - l_speed);
415 415

  
416 416
        Vector2 old_pos = pos;
417 417

  
418 418
        // Update encoders
419
        fl_ticks += (unsigned int) (motor_fl_speed * SCOUTSIM_REFRESH_RATE *
419
        fl_ticks += (unsigned int) (motor_fl_speed * SIM_TIME_REFRESH_RATE *
420 420
                                    ENCODER_TICKS_PER_METER);
421
        fr_ticks += (unsigned int) (motor_fr_speed * SCOUTSIM_REFRESH_RATE *
421
        fr_ticks += (unsigned int) (motor_fr_speed * SIM_TIME_REFRESH_RATE *
422 422
                                    ENCODER_TICKS_PER_METER);
423
        bl_ticks += (unsigned int) (motor_bl_speed * SCOUTSIM_REFRESH_RATE *
423
        bl_ticks += (unsigned int) (motor_bl_speed * SIM_TIME_REFRESH_RATE *
424 424
                                    ENCODER_TICKS_PER_METER);
425
        br_ticks += (unsigned int) (motor_br_speed * SCOUTSIM_REFRESH_RATE *
425
        br_ticks += (unsigned int) (motor_br_speed * SIM_TIME_REFRESH_RATE *
426 426
                                    ENCODER_TICKS_PER_METER);
427 427

  
428 428
        orient = fmod((float) (orient + ang_dist), (float) (2.0 * PI));

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