From fabe02d9065d22db88180832bcb481d94df76a7a Mon Sep 17 00:00:00 2001 From: Pimpest <82343504+Pimpest@users.noreply.github.com> Date: Sat, 22 Feb 2025 16:48:07 +0100 Subject: [PATCH] Fixed interface sending faster speed then intended --- mg_control/src/mg_control.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/mg_control/src/mg_control.cpp b/mg_control/src/mg_control.cpp index b62b16b..26ef4e7 100644 --- a/mg_control/src/mg_control.cpp +++ b/mg_control/src/mg_control.cpp @@ -69,8 +69,8 @@ hardware_interface::return_type mg::MgStepperInterface::write(const rclcpp::Time std::string cmd_left; std::string cmd_right; - cmd_left = std::to_string(left_wheel_vel_cmd / 2 * M_PI) + " "; - cmd_right = std::to_string(-right_wheel_vel_cmd / 2 * M_PI); + cmd_left = std::to_string(left_wheel_vel_cmd / (2 * M_PI)) + " "; + cmd_right = std::to_string(-right_wheel_vel_cmd / (2 * M_PI)); try { odrive_serial_interface.Write(cmd_left + cmd_right);