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Add ability to drive the wheels with direct pwm duty

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Erik Schembor 2017-11-20 22:26:38 -05:00
parent 4432e3cca3
commit 3906d7954d
2 changed files with 29 additions and 0 deletions
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8
include/create/create.h
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@ -191,6 +191,14 @@ namespace create {
*/
bool driveWheels(const float& leftWheel, const float& rightWheel);
/**
* \brief Set the direct for the left and right wheels.
* \param leftWheel pwm in the range [-1, 1]
* \param rightWheel pwm in the range [-1, 1]
* \return true if successful, false otherwise
*/
bool driveWheelsPwm(const float& leftWheel, const float& rightWheel);
/**
* \brief Set the forward and angular velocity of Create.
* \param xVel in m/s