kleiax/Bachelorarbeit-Rover
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- test driving
This commit is contained in:
kleiax
2023-10-10 17:06:30 +02:00
parent fd3155f49d
commit 692adf7e16
8 changed files with 38 additions and 31 deletions
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src/moveControl.cpp
+8 -6
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@@ -170,12 +170,12 @@ void MoveControl::calcTargetWheelSpeed() {
\ 1 -b / \ T / \ Xr / */
// (1 / r) * 1
constexpr double A = 15.82278481;
constexpr double A = 1.0 / (Settings::wheelDiameter / 2);
// (1 / r) * b
constexpr double B = 2.096518987;
constexpr double B = (1.0 / (Settings::wheelDiameter / 2)) * (Settings::wheelDistance / 2);
this->wheelspeed_right_target = (A * this->drivingSpeeds.x + B * this->drivingSpeeds.rot) * (Settings::wheelDiameter / 2);
this->wheelspeed_left_target = (A * this->drivingSpeeds.x + (-B) * this->drivingSpeeds.rot) * (Settings::wheelDiameter / 2);
this->wheelspeed_right_target = (A * this->drivingSpeeds.x + B * this->drivingSpeeds.rot);
this->wheelspeed_left_target = (A * this->drivingSpeeds.x + (-B) * this->drivingSpeeds.rot);
}
void MoveControl::regulateMotors() {
@@ -208,6 +208,8 @@ void MoveControl::regulateMotors() {
}
void MoveControl::updateCurrentWheelSpeed() {
this->wheelspeed_left = this->left_speedometer->getSpeed();
this->wheelspeed_right = this->right_speedometer->getSpeed();
this->wheelspeed_left = this->left_speedometer->getSpeedRad();
this->wheelspeed_right = this->right_speedometer->getSpeedRad();
// this->wheelspeed_left = this->left_speedometer->getSpeed();
// this->wheelspeed_right = this->right_speedometer->getSpeed();
}