RoboidControl/RoboidControl-csharp
RoboidControl/RoboidControl-csharp
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Fix compatibility with lastest LinearAlgebra

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This commit is contained in:
Pascal Serrarens 2025-05-28 12:18:22 +02:00
parent 6254315610
commit 7f3698ecaa
1 changed files with 2 additions and 1 deletions
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3
src/Things/DifferentialDrive.cs
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@ -1,3 +1,4 @@
using System;
using LinearAlgebra; using LinearAlgebra;
namespace RoboidControl { namespace RoboidControl {
@ -50,7 +51,7 @@ namespace RoboidControl {
/// @sa SetLinearVelocity SetAngularVelocity /// @sa SetLinearVelocity SetAngularVelocity
public void SetDriveDimensions(float wheelDiameter, float wheelSeparation = 0) { public void SetDriveDimensions(float wheelDiameter, float wheelSeparation = 0) {
this._wheelRadius = wheelDiameter > 0 ? wheelDiameter / 2 : -wheelDiameter / 2; this._wheelRadius = wheelDiameter > 0 ? wheelDiameter / 2 : -wheelDiameter / 2;
this.rpsToMs = wheelDiameter * Angle.pi; this.rpsToMs = wheelDiameter * (float)Math.PI;
if (wheelSeparation > 0) { if (wheelSeparation > 0) {
wheelSeparation = wheelSeparation > 0 ? wheelSeparation : -wheelSeparation; wheelSeparation = wheelSeparation > 0 ? wheelSeparation : -wheelSeparation;