Diff: Robot_Library/robot.h

Revision:

58:c9a55b0c3121

Parent:

57:8bf0b5a70065

Child:

60:85a40e69ced6

--- a/Robot_Library/robot.h	Mon May 30 08:45:32 2022 +0200
+++ b/Robot_Library/robot.h	Mon May 30 09:09:10 2022 +0200
@@ -44,7 +44,7 @@
         const float kD = 0.5f;
 
         int previous_error_value;
-        int intergal_error;
+        int integral_error;
 
         //bool motors_enabled;
 
@@ -63,7 +63,7 @@
         const float COUNTS_PER_TURN = 64.0f * 19.0f;    // define counts per turn at gearbox end: counts/turn * gearratio
         const float KN = 530.0f / 12.0f;      
 
-        Eigen::Matrix2f wheel_to_robot;// Transoformation matrix
+        Eigen::Matrix2f wheel_to_robot;// Transformation matrix
         Eigen::Matrix2f robot_to_wheel;
         /* HARDWARE SETUP */
 
@@ -86,7 +86,7 @@
         EncoderCounter encoder_M1; // create encoder objects to read in the encoder counter values
         EncoderCounter encoder_M2;
 
-        Motion* trajectoryPlanners[2]; // two directory planners, 1 for each motor
+        Motion* trajectoryPlanners[2]; // two trajectory planners, 1 for each motor
         SpeedController* speedControllers[2];
 
         Eigen::Vector2f robot_speed_desired;    // Robot speed vector [x_dt, alpha_dt] in [m/s] and [rad/s]
@@ -96,7 +96,7 @@
         Eigen::Vector2f robot_speed_actual;     // Measured robot speed
 
 
- // TODO, pas in motors as seperate objects n stuff ? not sure
+ // TODO, pass in motors as separate objects and stuff? not sure
 
 };