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ROBOTIS-GIT / OpenCR

Software for ROS Embedded board (a.k.a. OpenCR). OpenCR means Open-source Control Module for ROS.
Apache License 2.0
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calculate velocity constant and max vel from parameters #137

Closed t-kitajima closed 6 years ago

t-kitajima commented 6 years ago

Turtlebot3 has many people who change the wheel radius by customizing the hardware.

This PR calculates the rate constant and min/max velocity from the parameters (such as WHEEL_RADIUS), making it easier and more intuitive to adapt the software to the customized hardware.

routiful commented 6 years ago

Thanks :)

When calculate MAX_LINEAR_VELOCITY, what is the meaning of number 61(burger) and 77(waffle) ?

t-kitajima commented 6 years ago

Both values are the Dyanamixel 's rpm value. Burger uses rpm at no load speed of Dynamixel XL430-W250. (at 12 v) Also, Waffle Pi uses rpm at no load speed of Dynamixel XM430-W210. (at 12 v)

The value is based on the e-manual's no load speed. e-Manual v1.31.30 XL430-W250 e-Manual v1.31.30 XM430-W210

t-kitajima commented 6 years ago

Thank you for review.

I fixed the following two. ・Added a unit after the number. ・Changed OpenManipulator's number.(61[rpm] -> 77[rpm])

routiful commented 6 years ago

Great! Thank you for contribution. I will test this code and merge master branch :)