From 29453944ff61c7ee66c77c06fc74fb146505363b Mon Sep 17 00:00:00 2001 From: awagner Date: Mon, 20 Nov 2023 15:35:21 -0600 Subject: [PATCH] update motor command calculation to account for traction factor --- src/protocol_pro.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/protocol_pro.cpp b/src/protocol_pro.cpp index cc9b107..bc85ad6 100644 --- a/src/protocol_pro.cpp +++ b/src/protocol_pro.cpp @@ -115,8 +115,8 @@ void ProProtocolObject::motors_control_loop(int sleeptime) { } } // !Applying some Skid-steer math - double motor1_vel = linear_vel - 0.5 * wheel2wheelDistance * angular_vel; - double motor2_vel = linear_vel + 0.5 * wheel2wheelDistance * angular_vel; + double motor1_vel = linear_vel - 0.5 * wheel2wheelDistance * angular_vel / odom_traction_factor_; + double motor2_vel = linear_vel + 0.5 * wheel2wheelDistance * angular_vel / odom_traction_factor_; if (motor1_vel == 0) motor1_control_.reset(); if (motor2_vel == 0) motor2_control_.reset(); if (firmware == OVF_FIXED_FIRM_VER_) { // check firmware version