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Roboclaw: Consistent Left & Right naming convertion with Differential Drive class

This commit is contained in:
PerFrivik 2023-11-15 15:25:20 +01:00 committed by Matthias Grob
parent f53edfa440
commit 09d30568ab
3 changed files with 8 additions and 8 deletions
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2
msg/WheelEncoders.msg
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@ -1,5 +1,5 @@
uint64 timestamp # time since system start (microseconds)
# Two wheels: 0 left, 1 right
# Two wheels: 0 right, 1 left
float32[2] wheel_speed # [rad/s]
float32[2] wheel_angle # [rad]

10
src/drivers/roboclaw/Roboclaw.cpp
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@ -157,8 +157,8 @@ int Roboclaw::initializeUART()
bool Roboclaw::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
unsigned num_outputs, unsigned num_control_groups_updated)
{
float left_motor_output = -((float)outputs[1] - 128.0f) / 127.f;
float right_motor_output = ((float)outputs[0] - 128.0f) / 127.f;
float left_motor_output = -((float)outputs[1] - 128.0f) / 127.f;
if (stop_motors) {
setMotorSpeed(Motor::Left, 0.f);
@ -234,10 +234,10 @@ int Roboclaw::readEncoder()
int32_t position_right = swapBytesInt32(&buffer_positon[0]);
wheel_encoders_s wheel_encoders{};
wheel_encoders.wheel_speed[0] = static_cast<float>(speed_left) / _param_rbclw_counts_rev.get() * M_TWOPI_F;
wheel_encoders.wheel_speed[1] = static_cast<float>(speed_right) / _param_rbclw_counts_rev.get() * M_TWOPI_F;
wheel_encoders.wheel_angle[0] = static_cast<float>(position_left) / _param_rbclw_counts_rev.get() * M_TWOPI_F;
wheel_encoders.wheel_angle[1] = static_cast<float>(position_right) / _param_rbclw_counts_rev.get() * M_TWOPI_F;
wheel_encoders.wheel_speed[0] = static_cast<float>(speed_right) / _param_rbclw_counts_rev.get() * M_TWOPI_F;
wheel_encoders.wheel_speed[1] = static_cast<float>(speed_left) / _param_rbclw_counts_rev.get() * M_TWOPI_F;
wheel_encoders.wheel_angle[0] = static_cast<float>(position_right) / _param_rbclw_counts_rev.get() * M_TWOPI_F;
wheel_encoders.wheel_angle[1] = static_cast<float>(position_left) / _param_rbclw_counts_rev.get() * M_TWOPI_F;
wheel_encoders.timestamp = hrt_absolute_time();
_wheel_encoders_pub.publish(wheel_encoders);

4
src/drivers/roboclaw/Roboclaw.hpp
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@ -65,8 +65,8 @@ public:
virtual ~Roboclaw();
enum class Motor {
Left = 0,
Right = 1
Right = 0,
Left = 1
};
static int task_spawn(int argc, char *argv[]); ///< @see ModuleBase