compAIR/libcreate
compAIR/libcreate
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Use std::chrono instead of custom timestamp function

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Signed-off-by: Jacob Perron <jacobmperron@gmail.com>
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Jacob Perron 2019-09-02 18:56:32 +00:00 • committed by Jacob Perron
parent 111b062251
commit eaeea24a21
3 changed files with 5 additions and 16 deletions
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6
src/create.cpp
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@ -94,13 +94,13 @@ namespace create {
prevTicksLeft = GET_DATA(ID_LEFT_ENC);
prevTicksRight = GET_DATA(ID_RIGHT_ENC);
}
prevOnDataTime = util::getTimestamp();
prevOnDataTime = std::chrono::system_clock::now();
firstOnData = false;
}
// Get current time
util::timestamp_t curTime = util::getTimestamp();
float dt = (curTime - prevOnDataTime) / 1000000.0;
auto curTime = std::chrono::system_clock::now();
float dt = static_cast<std::chrono::duration<float>>(curTime - prevOnDataTime).count();
float deltaDist, deltaX, deltaY, deltaYaw, leftWheelDist, rightWheelDist, wheelDistDiff;
// Protocol versions 1 and 2 use distance and angle fields for odometry