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work on trajectory, update cobboard and ballboard too
[aversive.git]
/
projects
/
microb2010
/
mainboard
/
robotsim.c
diff --git
a/projects/microb2010/mainboard/robotsim.c
b/projects/microb2010/mainboard/robotsim.c
index
15b1075
..
d0aa3ae
100644
(file)
--- a/
projects/microb2010/mainboard/robotsim.c
+++ b/
projects/microb2010/mainboard/robotsim.c
@@
-118,8
+118,8
@@
void robotsim_update(void)
((local_r_pwm * 1000 * FILTER2)/1000);
/* basic collision detection */
((local_r_pwm * 1000 * FILTER2)/1000);
/* basic collision detection */
- a2 = atan2(ROBOT_WIDTH/2, ROBOT_
LENGTH/2
);
- d = norm(ROBOT_WIDTH/2, ROBOT_
LENGTH/2
);
+ a2 = atan2(ROBOT_WIDTH/2, ROBOT_
HALF_LENGTH_REAR
);
+ d = norm(ROBOT_WIDTH/2, ROBOT_
HALF_LENGTH_REAR
);
xfl = x + cos(a+a2) * d;
yfl = y + sin(a+a2) * d;
xfl = x + cos(a+a2) * d;
yfl = y + sin(a+a2) * d;
@@
-156,9
+156,9
@@
void robotsim_pwm(void *arg, int32_t val)
{
// printf("%p, %d\n", arg, val);
if (arg == LEFT_PWM)
{
// printf("%p, %d\n", arg, val);
if (arg == LEFT_PWM)
- l_pwm =
val
;
+ l_pwm =
(val / 1.55)
;
else if (arg == RIGHT_PWM)
else if (arg == RIGHT_PWM)
- r_pwm =
val
;
+ r_pwm =
(val / 1.55)
;
}
int32_t robotsim_encoder_get(void *arg)
}
int32_t robotsim_encoder_get(void *arg)