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scale the steer angle from 1000 to 100 times

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This commit is contained in:
wangzheqie
2021-04-21 13:48:05 +08:00
committed by Du Ruixiang
parent 6304e93ac8
commit 7c4489d91a
2 changed files with 5 additions and 1 deletions
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1
.gitignore vendored
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@@ -4,6 +4,7 @@ build
*/build */build
cmake-build-debug cmake-build-debug
cmake-build-release/ cmake-build-release/
*.xlsx
# Temp files # Temp files
*~ *~

5
src/ranger_base.cpp
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@@ -53,7 +53,7 @@ void RangerBase::ParseCANFrame(can_frame *rx_frame) {
} }
void RangerBase::UpdateRangerState(const AgxMessage &status_msg, void RangerBase::UpdateRangerState(const AgxMessage &status_msg,
RangerState &state) { RangerState &state) {
switch (status_msg.type) { switch (status_msg.type) {
case AgxMsgSystemState: { case AgxMsgSystemState: {
// std::cout << "system status feedback received" << std::endl; // std::cout << "system status feedback received" << std::endl;
@@ -63,6 +63,9 @@ void RangerBase::UpdateRangerState(const AgxMessage &status_msg,
case AgxMsgMotionState: { case AgxMsgMotionState: {
// std::cout << "motion control feedback received" << std::endl; // std::cout << "motion control feedback received" << std::endl;
state.motion_state = status_msg.body.motion_state_msg; state.motion_state = status_msg.body.motion_state_msg;
state.motion_state.steering_angle *= 10;
// std::cout << "steering angle: " << state.motion_state.steering_angle <<
// std::endl;
break; break;
} }
case AgxMsgLightState: { case AgxMsgLightState: {