compAIR/libcreate
compAIR/libcreate
4
0
Fork 1
Code Issues Pull requests Projects Releases Packages 1 Wiki Activity Actions

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

Browse source
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
Download patch file Download diff file Expand all files Collapse all files

4
src/data.cpp
View file

@ -26,6 +26,8 @@ namespace create {
ADD_PACKET(ID_CAPACITY, 2, "battery_capacity");
ADD_PACKET(ID_VIRTUAL_WALL, 1, "virtual_wall");
ADD_PACKET(ID_OI_MODE, 1, "oi_mode");
ADD_PACKET(ID_RIGHT_VEL, 2, "velocity_right");
ADD_PACKET(ID_LEFT_VEL, 2, "velocity_left");
if (model == CREATE_1) {
ADD_PACKET(ID_DISTANCE, 2, "distance");
@ -48,8 +50,6 @@ namespace create {
//ADD_PACKET(ID_NUM_STREAM_PACKETS, 1, "oi_stream_num_packets");
//ADD_PACKET(ID_VEL, 2, "velocity");
//ADD_PACKET(ID_RADIUS, 2, "radius");
//ADD_PACKET(ID_RIGHT_VEL, 2, "velocity_right");
//ADD_PACKET(ID_LEFT_VEL, 2, "velocity_left");
ADD_PACKET(ID_LEFT_ENC, 2, "enc_counts_left");
ADD_PACKET(ID_RIGHT_ENC, 2, "enc_counts_right");
ADD_PACKET(ID_LIGHT, 1, "light_bumper");