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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How to get the "WHEEL_SEPARATION_X" & "WHEEL_SEPARATION_Y" value #289

Open zhl017 opened 2 years ago

zhl017 commented 2 years ago

Hello,

I tried to make a mecanum that bigger than waffle's size.

In example file : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/turtlebot3/examples/turtlebot3_friends/turtlebot3_mecanum/turtlebot3_mecanum.h

define WHEEL_SEPARATION_X 0.1005 // 170mm/2 + 31mm/2

define WHEEL_SEPARATION_Y 0.085 // 200mm/2 - 30mm/2

I'm confusing what these value means ? and how to get value 170mm, 31mm, 200mm, 30mm ?