Hello,
You are correct, that is a bug. Thanks for the fix.
-nate
On 8/22/07, Robotics Primer users help list
<rob...@li...> wrote:
> I downloaded the Wookbook code from the website and I believe there is a bug on the create driver.
> At file roboticsprimer-0.1/create/create.c
> function set_speed, line 378
>
> int16_t rightVel = linear_speed + (angular_speed/1e2) * CR8_HALF_AXLE_LENGTH;
> int16_t leftVel = linear_speed - (angular_speed/1e2) * CR8_HALF_AXLE_LENGTH;
>
> it should be
> int16_t rightVel = linear_speed + (angular_speed/1e3) * CR8_HALF_AXLE_LENGTH;
> int16_t leftVel = linear_speed - (angular_speed/1e3) * CR8_HALF_AXLE_LENGTH;
>
> since CR8_HALF_AXLE_LENGTH was defined in mm at create.h.
>
> Thanks,
> Marcos
>
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