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Commit 3705f598 by Hideaki Tai
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change wheel speed -> whill speed conversion

parent 75628f44
Inline Side-by-side
Showing with 2 additions and 2 deletions
lib/Whill/WhillOmni.cpp
...@@ -75,9 +75,9 @@ bool WhillOmni::move(float x, float y, float r) // [mm/s], [mm/s], [rad/s] ...@@ -75,9 +75,9 @@ bool WhillOmni::move(float x, float y, float r) // [mm/s], [mm/s], [rad/s]
// calcurate whill's translation speed // calcurate whill's translation speed
whill_l.y() = (w_wheel[1] + w_wheel[0]) / 2.f * model.getWheelRadius(); whill_l.y() = (w_wheel[1] + w_wheel[0]) / 2.f * model.getWheelRadius();
whill_l.x() = (w_wheel[1] - w_wheel[0]) / 0.55f * model.getWheelRadius(); whill_l.x() = (w_wheel[1] - w_wheel[0]) / 0.5f * model.getWheelRadius();
whill_r.y() = (w_wheel[3] + w_wheel[2]) / 2.f * model.getWheelRadius(); whill_r.y() = (w_wheel[3] + w_wheel[2]) / 2.f * model.getWheelRadius();
whill_r.x() = (w_wheel[3] - w_wheel[2]) / 0.55f * model.getWheelRadius(); whill_r.x() = (w_wheel[3] - w_wheel[2]) / 0.5f * model.getWheelRadius();
// convert whill direction // convert whill direction
whill_l.x() = -whill_l.x(); whill_l.x() = -whill_l.x();
......
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