Revision: 7983
http://playerstage.svn.sourceforge.net/playerstage/?rev=7983&view=rev
Author: robotos
Date: 2009-07-10 17:23:01 +0000 (Fri, 10 Jul 2009)
Log Message:
-----------
correctly calculate the radius
Modified Paths:
--------------
code/gazebo/trunk/server/controllers/position2d/differential/Differential_Position2d.cc
Modified:
code/gazebo/trunk/server/controllers/position2d/differential/Differential_Position2d.cc
===================================================================
---
code/gazebo/trunk/server/controllers/position2d/differential/Differential_Position2d.cc
2009-07-10 16:11:43 UTC (rev 7982)
+++
code/gazebo/trunk/server/controllers/position2d/differential/Differential_Position2d.cc
2009-07-10 17:23:01 UTC (rev 7983)
@@ -184,17 +184,18 @@
this->odomVel[1] = 0.0;
this->odomVel[2] = da / stepTime;
+
//if (this->enableMotors)
{
this->joints[LEFT]->SetParam( dParamVel,
- this->wheelSpeed[LEFT] /
**(this->wheelDiamP) * 2.0 );
+ this->wheelSpeed[LEFT] /
**(this->wheelDiamP) / 2.0 );
this->joints[RIGHT]->SetParam( dParamVel,
- this->wheelSpeed[RIGHT] /
**(this->wheelDiamP) * 2.0 );
+ this->wheelSpeed[RIGHT] /
**(this->wheelDiamP) / 2.0 );
this->joints[LEFT]->SetParam( dParamFMax, **(this->torqueP) );
this->joints[RIGHT]->SetParam( dParamFMax, **(this->torqueP) );
- //printf("Set Speed[%f %f]\n",this->wheelSpeed[LEFT],
this->wheelSpeed[RIGHT]);
+ printf("Set Speed[%f %f]\n",this->wheelSpeed[LEFT],
this->wheelSpeed[RIGHT]);
}
/*else
{
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