compAIR/libcreate
compAIR/libcreate
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Fix odometry inversion for Create 1.

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This commit is contained in:
Ben Wolsieffer 2016-06-24 17:46:20 -04:00
parent 1df7861f24
commit b0e8259510
1 changed files with 1 additions and 1 deletions
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2
src/create.cpp
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@ -103,7 +103,7 @@ namespace create {
deltaDist = ((int16_t) GET_DATA(ID_DISTANCE)) / 1000.0; //mm -> m
deltaYaw = ((int16_t) GET_DATA(ID_ANGLE)) * (util::PI / 180.0); // D2R
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;
rightWheelDist = leftWheelDist;