RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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positive angle ->turn right

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This commit is contained in:
Pascal Serrarens 2024-05-10 11:10:16 +02:00
parent a41a2b2c04
commit 2b392ef045
1 changed files with 3 additions and 2 deletions
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5
DifferentialDrive.cpp
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@ -47,11 +47,12 @@ void DifferentialDrive::SetMotorTargetSpeeds(float leftSpeed,
}; };
} }
#include <Arduino.h>
void DifferentialDrive::SetTwistSpeed(float forward, float yaw) { void DifferentialDrive::SetTwistSpeed(float forward, float yaw) {
float leftSpeed = float leftSpeed =
Float::Clamp(forward - yaw, -1, 1); // revolutions per second
float rightSpeed =
Float::Clamp(forward + yaw, -1, 1); // revolutions per second Float::Clamp(forward + yaw, -1, 1); // revolutions per second
float rightSpeed =
Float::Clamp(forward - yaw, -1, 1); // revolutions per second
float leftMotorSpeed = leftSpeed / rpsToMs; // meters per second float leftMotorSpeed = leftSpeed / rpsToMs; // meters per second
float rightMotorSpeed = rightSpeed / rpsToMs; // meters per second float rightMotorSpeed = rightSpeed / rpsToMs; // meters per second