compAIR/libcreate
compAIR/libcreate
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Fix bug: convert distance measurement to meters

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This commit is contained in:
Jacob Perron 2016-03-14 20:24:00 -07:00
parent f073458624
commit dc998af427
2 changed files with 1 additions and 3 deletions
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2
src/create.cpp
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@ -66,7 +66,7 @@ namespace create {
float dt = (curTime - prevOnDataTime) / 1000000.0;
float deltaDist, deltaX, deltaY, deltaYaw;
if (model == CREATE_1) {
deltaDist = GET_DATA(ID_DISTANCE);
deltaDist = GET_DATA(ID_DISTANCE) / 1000.0; //mm -> m
deltaYaw = GET_DATA(ID_ANGLE) * util::PI / 180.0; // D2R
deltaX = deltaDist * cos(pose.yaw);
deltaY = deltaDist * sin(pose.yaw);

2
src/data.cpp
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@ -28,10 +28,8 @@ namespace create {
if (model == CREATE_1) {
ADD_PACKET(ID_DISTANCE, 2, "distance");
ADD_PACKET(ID_ANGLE, 2, "angle");
std::cout << "Adding Create 1 packets" << std::endl;
}
else if (model == CREATE_2) {
std::cout << "Adding Create 2 packets" << std::endl;
//ADD_PACKET(ID_VIRTUAL_WALL, 1, "virtual_wall");
//ADD_PACKET(ID_OVERCURRENTS, 1, "overcurrents");
ADD_PACKET(ID_DIRT_DETECT, 1, "dirt_detect");