modelec/ros2_roboclaw_driver
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Changed quad_pulses_per_revolution to be a float type

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This commit is contained in:
Michael Wimble
2025-03-06 11:01:23 -08:00
parent abf41bb914
commit 430d7c3870
1 changed files with 4 additions and 4 deletions
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8
src/motor_driver.cpp
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@@ -39,7 +39,7 @@ MotorDriver::MotorDriver()
this->declare_parameter<bool>("publish_joint_states", true);
this->declare_parameter<bool>("publish_odom", true);
this->declare_parameter<int>("quad_pulses_per_meter", 0);
this->declare_parameter<int>("quad_pulses_per_revolution", 0);
this->declare_parameter<float>("quad_pulses_per_revolution", 0);
this->declare_parameter<int>("vmin", 1);
this->declare_parameter<int>("vtime", 2);
this->declare_parameter<float>("wheel_radius", 0.0);
@@ -130,7 +130,7 @@ void MotorDriver::onInit(rclcpp::Node::SharedPtr node) {
RCUTILS_LOG_INFO("publish_joint_states: %s",
publish_joint_states_ ? "True" : "False");
RCUTILS_LOG_INFO("quad_pulses_per_meter: %d", quad_pulses_per_meter_);
RCUTILS_LOG_INFO("quad_pulses_per_revolution: %d",
RCUTILS_LOG_INFO("quad_pulses_per_revolution: %3.4f",
quad_pulses_per_revolution_);
RCUTILS_LOG_INFO("vmin: %d", vmin_);
RCUTILS_LOG_INFO("vtime: %d", vtime_);
@@ -196,10 +196,10 @@ void MotorDriver::publisherThread() {
float encoder_left = RoboClaw::singleton()->getM1Encoder() * 1.0;
float encoder_right = RoboClaw::singleton()->getM2Encoder() * 1.0;
double radians_left =
(encoder_left / g_singleton->quad_pulses_per_revolution_) * 2.0 *
((encoder_left * 1.0)/ g_singleton->quad_pulses_per_revolution_) * 2.0 *
M_PI;
double radians_right =
(encoder_right / g_singleton->quad_pulses_per_revolution_) * 2.0 *
((encoder_right * 1.0) / g_singleton->quad_pulses_per_revolution_) * 2.0 *
M_PI;
joint_state_msg.name.push_back("front_left_wheel");
joint_state_msg.name.push_back("front_right_wheel");