Skip to content

Hideaki Tai / omni_main

Go to a project
Commit 851effd0 by Hideaki Tai
Options

adjust FB / LR speed balance

parent 9766db4a
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]) / 1.f * model.getWheelRadius(); whill_l.x() = (w_wheel[1] - w_wheel[0]) / 1.1f * 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]) / 1.f * model.getWheelRadius(); whill_r.x() = (w_wheel[3] - w_wheel[2]) / 1.1f * model.getWheelRadius();
// convert whill direction // convert whill direction
whill_l.x() = -whill_l.x(); whill_l.x() = -whill_l.x();
......
  • Markdown is supported
    0% or
    You are about to add 0 people to the discussion. Proceed with caution.
    Finish editing this message first!
    Please register or sign in to comment