## Revision 4e393fcc

 ID 4e393fcc6f5a6742e8c75d6d81beb13e3f4ffde7 Parent f3549f76 Child f325b893

Added code for unit conversion, pending tests.

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
```}
```

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