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converted rotational speed to specified units

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This commit is contained in:
Andy Killorin 2024-10-23 14:05:48 -04:00
parent 3a645e8709
commit 6066594f6a
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
1 changed files with 2 additions and 5 deletions
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7
lib/Chassis/src/chassis.cpp
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@ -116,11 +116,8 @@ void Chassis::UpdateMotors(void)
*/
void Chassis::SetWheelSpeeds(float leftSpeedCMperSec, float rightSpeedCMperSec)
{
/**
* TODO: Add code to convert cm/sec -> encoder ticks/control interval
*/
leftMotor.SetTargetSpeed(leftSpeedCMperSec);
rightMotor.SetTargetSpeed(rightSpeedCMperSec);
leftMotor.SetTargetSpeed(leftSpeedCMperSec * LEFT_TICKS_PER_CM);
rightMotor.SetTargetSpeed(rightSpeedCMperSec * RIGHT_TICKS_PER_CM);
}
/**