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

Use steady clock for computing velocity (#59)

Browse source 
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
This commit is contained in:
Jacob Perron 2021-03-25 16:04:41 -07:00 • committed by GitHub
parent cc95ad35a0
commit fd1d0a220f
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
2 changed files with 3 additions and 3 deletions
Download patch file Download diff file Expand all files Collapse all files

4
src/create.cpp
View file

@ -93,12 +93,12 @@ namespace create {
prevTicksLeft = GET_DATA(ID_LEFT_ENC);
prevTicksRight = GET_DATA(ID_RIGHT_ENC);
}
prevOnDataTime = std::chrono::system_clock::now();
prevOnDataTime = std::chrono::steady_clock::now();
firstOnData = false;
}
// Get current time
auto curTime = std::chrono::system_clock::now();
auto curTime = std::chrono::steady_clock::now();
float dt = static_cast<std::chrono::duration<float>>(curTime - prevOnDataTime).count();
float deltaDist, deltaX, deltaY, deltaYaw, leftWheelDist, rightWheelDist, wheelDistDiff;