small fixes

2023-08-07 13:05:42 +02:00
parent 3549af2470
commit 8ed91c4b11
7 changed files with 16 additions and 13 deletions
@@ -187,9 +187,9 @@ void MoveControl::calcTargetWheelSpeed() {
               \ 1 -b / \ T /   \ Xr /  */

    // (1 / r) * 1
-    const static double A = 15.82278481;
+    constexpr double A = 15.82278481;
    // (1 / r) * b
-    const static double B = 2.096518987;
+    constexpr double B = 2.096518987;

    this->wheelspeed_right_target = (A * this->x_speed + B * this->rotation_speed) * (WHEEL_DIAMETER / 2);
    this->wheelspeed_left_target  = (A * this->x_speed + (-B) * this->rotation_speed) * (WHEEL_DIAMETER / 2);