Update of /cvsroot/playerstage/code/player/server/drivers/mixed/wbr/914
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv27627/server/drivers/mixed/wbr/914
Modified Files:
wbr914.cc
Log Message:
applied patch 1602331
Index: wbr914.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/mixed/wbr/914/wbr914.cc,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** wbr914.cc 20 Nov 2006 16:53:47 -0000 1.4
--- wbr914.cc 27 Nov 2006 23:51:38 -0000 1.5
***************
*** 363,366 ****
--- 363,373 ----
struct serial_struct serial_info;
+ if ( ioctl( _fd, TIOCGSERIAL, &serial_info ) < 0)
+ {
+ // get the serial info
+ perror("config_serial_port: ioctl TIOCGSERIAL");
+ return(-1);
+ }
+
// Custom baud rate of 416666 baud, the max the
// motor controller will handle.
***************
*** 810,817 ****
{
// need to calculate the left and right velocities
! int32_t transvel = MPS2Vel( velcmd->vel.px );
! int32_t rotvel = MPS2Vel( velcmd->vel.pa * DEFAULT_AXLE_LENGTH/2.0 );
! int32_t leftvel = transvel - rotvel;
! int32_t rightvel = transvel + rotvel;
// printf( "VelCmd: px=%1.3f, pa=%1.3f, trvel=%d, rotvel=%d, rvel=%d,
lvel=%d\n", velcmd->vel.px, velcmd->vel.pa, transvel, rotvel, leftvel, rightvel
);
--- 817,849 ----
{
// need to calculate the left and right velocities
! float trans = velcmd->vel.px;
! float rot = velcmd->vel.pa * DEFAULT_AXLE_LENGTH/2.0;
! float l = trans - rot;
! float r = trans + rot;
!
! // Reduce the speed on each wheel to the max
! // speed to prevent the stepper motors from stalling
! // Scale the speed of the other wheel to keep the
! // turn of the same rate. Note the turn geometry
! // will be affected.
! if ( fabs( l ) > MOTOR_DEF_MAX_SPEED )
! {
! float dir = l/fabs(l);
! float scale = l/MOTOR_DEF_MAX_SPEED;
! l = dir*MOTOR_DEF_MAX_SPEED;
! r = r/fabs(scale);
! }
!
! if ( fabs( r ) > MOTOR_DEF_MAX_SPEED )
! {
! float dir = r/fabs(r);
! float scale = r/MOTOR_DEF_MAX_SPEED;
! r = dir*MOTOR_DEF_MAX_SPEED;
! l = l/fabs(scale);
! }
!
! int32_t leftvel = MPS2Vel( l );
! int32_t rightvel = MPS2Vel( r );
!
// printf( "VelCmd: px=%1.3f, pa=%1.3f, trvel=%d, rotvel=%d, rvel=%d,
lvel=%d\n", velcmd->vel.px, velcmd->vel.pa, transvel, rotvel, leftvel, rightvel
);
***************
*** 1466,1470 ****
unsigned char ret[6];
! if ( sendCmd16( s / 8, READANALOG, s % 8, 6, ret )<0 )
{
printf( "Error reading Analog values\n" );
--- 1498,1502 ----
unsigned char ret[6];
! if ( sendCmd16( s / 8, READANALOG, s % 8, 4, ret )<0 )
{
printf( "Error reading Analog values\n" );
***************
*** 1488,1492 ****
unsigned char ret[6];
! if ( sendCmd16( 0, READDIGITAL, 0, 6, ret )<0)
{
printf( "Error reading Digital input values\n" );
--- 1520,1524 ----
unsigned char ret[6];
! if ( sendCmd16( 0, READDIGITAL, 0, 4, ret )<0)
{
printf( "Error reading Digital input values\n" );
-------------------------------------------------------------------------
Take Surveys. Earn Cash. Influence the Future of IT
Join SourceForge.net's Techsay panel and you'll get the chance to share your
opinions on IT & business topics through brief surveys - and earn cash
http://www.techsay.com/default.php?page=join.php&p=sourceforge&CID=DEVDEV
_______________________________________________
Playerstage-commit mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/playerstage-commit
