Update of /cvsroot/playerstage/code/player/server/drivers/mixed/erratic
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv14002
Modified Files:
erratic.cc
Log Message:
Index: erratic.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/mixed/erratic/erratic.cc,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** erratic.cc 24 Sep 2006 06:06:25 -0000 1.3
--- erratic.cc 25 Sep 2006 03:58:22 -0000 1.4
***************
*** 1195,1198 ****
--- 1195,1203 ----
speedDemand = (int)rint(cmd.velocity * 1e3); // convert to mm/s
angleDemand = (int)rint(RTOD(cmd.angle)); // convert to deg heading
+ angleDemand -= this->motor_packet->angle_offset; // check for
angle offset of odometry
+ if (angleDemand > 360) // normalize
+ angleDemand -= 360;
+ if (angleDemand < 0)
+ angleDemand += 360;
// do separate trans and rot vels
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