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Revision 2237e1f0

ID2237e1f0a505e07f01a4d3d3bfa818fba34e9386

Added by Thomas Mullins about 11 years ago

Changed motor max speed and added constants in set_motors.msg

The new speed range is -100 to 100, to be consistent with the pwm
driver. They can be accessed with motors::set_motors::MIN_SPEED and
motors::set_motors::MAX_SPEED respectively.

View differences:

scout/motors/msg/set_motors.msg
5 5
bool br_set
6 6
bool teleop_ON
7 7

  
8
# The absolute motor speeds to set (-128 to 127)
9
# TODO check that this is the correct range
8
# The absolute motor speeds to set
10 9
int8 fl_speed
11 10
int8 fr_speed
12 11
int8 bl_speed
13 12
int8 br_speed
13

  
14
int8 MAX_SPEED = 100
15
int8 MIN_SPEED = -100
scout/scoutsim/src/scout_constants.h
48 48
#ifndef _SCOUTSIM_SCOUT_CONSTANTS_
49 49
#define _SCOUTSIM_SCOUT_CONSTANTS_
50 50

  
51
#include <motors/set_motors.h>
52

  
51 53
/// TODO put these in a utility file somewhere?
52 54
#define min(x,y) ((x < y) ? x : y)
53 55
#define max(x,y) ((x > y) ? x : y)
......
55 57
namespace scoutsim
56 58
{
57 59
    // Maximum speed which will be sent to scoutsim in absolute units
58
    const int MAX_ABSOLUTE_SPEED = 127;
59
    const int MIN_ABSOLUTE_SPEED = -128;
60
    const int MAX_ABSOLUTE_SPEED = motors::set_motors::MAX_SPEED;
61
    const int MIN_ABSOLUTE_SPEED = motors::set_motors::MIN_SPEED;
60 62

  
61 63
    // Speed in m/s corresponding to maximum absolute speed
62 64
    const float MAX_SPEED_MPS = 1.0;
scout/scoutsim/src/sim_frame.h
80 80
#define ID_TELEOP_PRECISE 8
81 81
#define ID_TELEOP_FLUID 9
82 82

  
83
// Absolute speeds (-128 - 127)
83
// Absolute speeds (-100 - 100)
84 84
/// @todo: Clean this up a little; we should be risking overflowing shorts.
85
#define TELEOP_PRECISE_SPEED 60
86
#define TELEOP_PRECISE_TURN_SPEED 124
87
#define TELEOP_FLUID_MAX_SPEED 100
88
#define TELEOP_FLUID_INC 8
85
#define TELEOP_PRECISE_SPEED 47
86
#define TELEOP_PRECISE_TURN_SPEED 98
87
#define TELEOP_FLUID_MAX_SPEED 79
88
#define TELEOP_FLUID_INC 6
89 89

  
90 90
// Teleop types
91 91
#define TELEOP_OFF 0

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