Pimpest/ros2-control-testing
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Fixed converting rotations to radians

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Pimpest
2024-12-18 11:35:49 +01:00
parent 645000e0cc
commit 767d3f91c8
1 changed files with 4 additions and 4 deletions
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8
mg_wheel_interface/src/mg_wheel_interface.cpp
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@ -101,8 +101,8 @@ hardware_interface::return_type mg_wheel_interface::MgOdriveInterface::read(cons
odrive_serial_interface.ReadLine(resp_l,'\n',10); odrive_serial_interface.ReadLine(resp_l,'\n',10);
odrive_serial_interface.Write("f 0\n"); odrive_serial_interface.Write("f 0\n");
odrive_serial_interface.ReadLine(resp_r,'\n',10); odrive_serial_interface.ReadLine(resp_r,'\n',10);
left_wheel_pos_state = std::stod(resp_l); left_wheel_pos_state = std::stod(resp_l)*2*M_PI;
right_wheel_pos_state = -std::stod(resp_r); right_wheel_pos_state = -std::stod(resp_r)*2*M_PI;
return hardware_interface::return_type::OK ; return hardware_interface::return_type::OK ;
} }
@ -113,8 +113,8 @@ hardware_interface::return_type mg_wheel_interface::MgOdriveInterface::write(con
std::string cmd_right; std::string cmd_right;
int hash; int hash;
cmd_left = "v 1 " + std::to_string(left_wheel_vel_cmd/M_PI) + " "; cmd_left = "v 1 " + std::to_string(left_wheel_vel_cmd/2*M_PI) + " ";
cmd_right = "v 0 " + std::to_string(-right_wheel_vel_cmd/M_PI) + " "; cmd_right = "v 0 " + std::to_string(-right_wheel_vel_cmd/2*M_PI) + " ";
hash = 0; hash = 0;
for(const auto &c: cmd_left) { for(const auto &c: cmd_left) {