mirrors/ugv_sdk
1
0
Fork 0
mirror of https://github.com/westonrobot/ugv_sdk synced 2023-04-08 06:32:14 +08:00
Code Issues Packages Projects Releases Wiki Activity

scale the steer angle from 1000 to 100 times

Browse Source
This commit is contained in:
wangzheqie
2021-04-21 13:48:05 +08:00
parent 158f62a7f4
commit bb2af927da
2 changed files with 5 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
.gitignore vendored
View File

@@ -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
View File

@@ -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: {