ank/RBE2001-lab2
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rad to deg

cm per s to cm per loop
This commit is contained in:
Andy Killorin 2026-02-04 13:59:49 -05:00
parent aba495d3f1
commit 511d5fc281
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
2 changed files with 1 additions and 3 deletions
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2
lib/Chassis/src/chassis.cpp
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@ -142,10 +142,8 @@ Pose Chassis::CalcOdomFromWheelMotion(void)
Pose delta; Pose delta;
float leftDelta = (float) leftMotor.speed float leftDelta = (float) leftMotor.speed
* (float) CONTROL_LOOP_PERIOD_MS / 1000.0
/ LEFT_TICKS_PER_CM; / LEFT_TICKS_PER_CM;
float rightDelta = (float) rightMotor.speed float rightDelta = (float) rightMotor.speed
* (float) CONTROL_LOOP_PERIOD_MS / 1000.0
/ RIGHT_TICKS_PER_CM; / RIGHT_TICKS_PER_CM;
float distance = (leftDelta + rightDelta) / 2.0; float distance = (leftDelta + rightDelta) / 2.0;

2
src/robot-nav.cpp
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@ -20,7 +20,7 @@ void Robot::UpdatePose(const Pose& delta)
#ifdef __NAV_DEBUG__ #ifdef __NAV_DEBUG__
TeleplotPrint("x", currPose.x); TeleplotPrint("x", currPose.x);
TeleplotPrint("y", currPose.y); TeleplotPrint("y", currPose.y);
TeleplotPrint("theta", currPose.theta); TeleplotPrint("theta", currPose.theta * 180.0 / PI);
#endif #endif
} }