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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/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;


  		












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