compAIR/libcreate
compAIR/libcreate
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Merge pull request #21 from lopsided98/fix-odometry

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Fix odometry inversion for Create 1
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Jacob Perron 2016-06-27 15:19:21 -07:00 • committed by GitHub
commit 3e69ee0f4e
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src/create.cpp
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@ -103,7 +103,7 @@ namespace create {
deltaDist = ((int16_t) GET_DATA(ID_DISTANCE)) / 1000.0; //mm -> m deltaDist = ((int16_t) GET_DATA(ID_DISTANCE)) / 1000.0; //mm -> m
deltaYaw = ((int16_t) GET_DATA(ID_ANGLE)) * (util::PI / 180.0); // D2R deltaYaw = ((int16_t) GET_DATA(ID_ANGLE)) * (util::PI / 180.0); // D2R
deltaX = deltaDist * cos( util::normalizeAngle(pose.yaw + deltaYaw) ); deltaX = deltaDist * cos( util::normalizeAngle(pose.yaw + deltaYaw) );
deltaY = -deltaDist * sin( util::normalizeAngle(pose.yaw + deltaYaw) ); deltaY = deltaDist * sin( util::normalizeAngle(pose.yaw + deltaYaw) );
leftWheelDist = deltaDist / 2.0; leftWheelDist = deltaDist / 2.0;
rightWheelDist = leftWheelDist; rightWheelDist = leftWheelDist;