compAIR/libcreate
compAIR/libcreate
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Expose individual wheel distances and requested velocities. Fix wheel distance calculation for the Create 1.

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This commit is contained in:
Ben Wolsieffer 2016-06-23 16:27:05 -04:00
parent 1df7861f24
commit d6f759d683
4 changed files with 64 additions and 7 deletions
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2
include/create/util.h
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@ -40,6 +40,8 @@ POSSIBILITY OF SUCH DAMAGE.
namespace create {
namespace util {
static const float CREATE_1_AXLE_LENGTH = 0.26;
static const uint8_t CREATE_2_HEADER = 19;
static const float CREATE_2_AXLE_LENGTH = 0.235;
static const float CREATE_2_TICKS_PER_REV = 508.8;