[Krobot-commits] [SCM] krobot branch, master, updated. 318972860cd4780ebc131f01cd87017239268874

[Xavier L. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 318972860cd4780ebc131f01cd87017239268874
Author: Xavier Lagorce <Xav...@cr...>
Date:   Sun Apr 10 22:14:52 2011 +0200

    [info] Rotational speed expression correction in krobot_hil_simulator

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Changes:
diff --git a/info/control2011/src/tools/krobot_hil_simulator.ml b/info/control2011/src/tools/krobot_hil_simulator.ml
index 33b9e2e..57e9105 100644
--- a/info/control2011/src/tools/krobot_hil_simulator.ml
+++ b/info/control2011/src/tools/krobot_hil_simulator.ml
@@ -135,7 +135,7 @@ lwt () =
     lwt () = print sim in
 
     let u1 = (sim.velocity_l +. sim.velocity_r) *. wheels_diameter /. 4.
-    and u2 = (sim.velocity_l -. sim.velocity_r) *. wheels_diameter /. wheels_distance in
+    and u2 = (sim.velocity_l -. sim.velocity_r) *. wheels_diameter /. wheels_distance /. 2. in
     let dx = u1 *. (cos sim.state.theta)
     and dy = u1 *. (sin sim.state.theta)
     and dtheta = u2 in


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