ank/RBE2002
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time conversion

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This commit is contained in:
Andy Killorin 2024-10-23 20:11:01 -04:00
parent e2b0360f10
commit be7060bc16
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
2 changed files with 3 additions and 2 deletions
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4
lib/Chassis/src/chassis.cpp
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@ -117,8 +117,8 @@ void Chassis::UpdateMotors(void)
*/ */
void Chassis::SetWheelSpeeds(float leftSpeedCMperSec, float rightSpeedCMperSec) void Chassis::SetWheelSpeeds(float leftSpeedCMperSec, float rightSpeedCMperSec)
{ {
leftMotor.SetTargetSpeed(leftSpeedCMperSec * LEFT_TICKS_PER_CM); leftMotor.SetTargetSpeed(leftSpeedCMperSec * LEFT_TICKS_PER_CM * CONTROL_LOOP_PERIOD_S);
rightMotor.SetTargetSpeed(rightSpeedCMperSec * RIGHT_TICKS_PER_CM); rightMotor.SetTargetSpeed(rightSpeedCMperSec * RIGHT_TICKS_PER_CM * CONTROL_LOOP_PERIOD_S);
} }
/** /**

1
lib/Chassis/src/chassis.h
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@ -19,6 +19,7 @@ protected:
* avoid rounding errors. * avoid rounding errors.
*/ */
const uint16_t CONTROL_LOOP_PERIOD_MS = 20; const uint16_t CONTROL_LOOP_PERIOD_MS = 20;
const float CONTROL_LOOP_PERIOD_S = CONTROL_LOOP_PERIOD_MS / 1000.;
protected: protected:
/** /**