TreppenRobo
Prototyp V2
Dependencies: PM2_Libary
Diff: main.cpp
- Branch:
- michi
- Revision:
- 44:c2d4bc4be5f2
- Parent:
- 43:7964411b4a6b
- Child:
- 45:8050724fe19b
--- a/main.cpp Mon Apr 18 12:51:13 2022 +0200
+++ b/main.cpp Mon Apr 18 12:54:10 2022 +0200
@@ -108,9 +108,10 @@
// calculatioin of acctual distance with wheels is needed
int drive_straight(float distance)
{
-positionController_M_right.setDesiredRotation(distance,max_speed_rps);
-positionController_M_left.setDesiredRotation(distance,max_speed_rps);
-return 0;
+ int deg_to_turn = wheel_dist_to_deg(distance);
+ positionController_M_right.setDesiredRotation(deg_to_turn,max_speed_rps);
+ positionController_M_left.setDesiredRotation(deg_to_turn,max_speed_rps);
+ return 0;
}
//only turns the arm until the robot is on the next step