A question about the code variables

QuinAsura / LOCK

Localization, Obstacle avoidance , Control and Kinematics framework for differential steering systems.

MIT License

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A question about the code variables #3

Closed tdtrung17693 closed 7 years ago

tdtrung17693 commented 7 years ago

Hello. I 'm sorry to bother you. Could I ask you about the purpose of pwm{upper,lower} and omega{upper,lower} !? I have read your code thoroughly but I still don't know what they are and the purposes of them. Thank you in advance.

QuinAsura commented 7 years ago

Hello, Pwm_upper and lower correspond to highest and least pwm that can given as input to the motor driver through the controller. All the parameters used in class bot are specific to the bot we constructed probably should have used macros. You can probably refer https://www.coursera.org/learn/mobile-robot for the differential drive model from which this is loosely based on.