Revision 1140
it's slightly better
branches/simulator/projects/simulator/simulator/core/motion.c | ||
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#define TIME 1 /*sec*/ |
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#define ROBOT_WIDTH 131 /*mm*/ |
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#define MOTOR_CONVERSION_FACTOR 10.0 |
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#define MOTOR_CONVERSION_FACTOR 100.0
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#define FUDGE 10 /* minimum rangefinder distance until collision */ |
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... | ... | |
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} |
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else |
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{ |
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radius = ROBOT_WIDTH * speed2 / (speed2 - speed1);
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radius = ROBOT_WIDTH * speed2 / (speed1 - speed2);
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t = speed2 / radius / MOTOR_CONVERSION_FACTOR; |
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} |
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