compAIR/compLIB
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Change RPM to M/S

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This commit is contained in:
Konstantin Lampalzer 2022-05-26 18:55:57 +02:00
parent a484bc2137
commit 6a1ac72912
7 changed files with 111 additions and 15 deletions
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4
server_v2/include/Encoders.hpp
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@ -19,7 +19,7 @@ public:
std::array<int32_t, ROBOT_MOTOR_COUNT> get_positions();
std::array<double, ROBOT_MOTOR_COUNT> get_velocities_rpm();
std::array<double, ROBOT_MOTOR_COUNT> get_velocities_ms();
private:
Encoders() = default;
@ -28,7 +28,7 @@ private:
Cache velocity_cache{ROBOT_ENCODER_RATE_HZ};
std::array<int32_t, ROBOT_MOTOR_COUNT> cached_positions = {0};
std::array<double, ROBOT_MOTOR_COUNT> cached_velocities_rpm = {0};
std::array<double, ROBOT_MOTOR_COUNT> cached_velocities_ms = {0};
};