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ezWheelSAS / swd_ros_controllers

ROS nodes to control motors powered by the ez-Wheel Safety Wheel Drive (SWD®) technology.
https://www.ez-wheel.com/
GNU Lesser General Public License v2.1
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How can I set different values to the diameters of left and right SWDs? #53

Closed suguruhamada1003910 closed 1 year ago

suguruhamada1003910 commented 1 year ago

In old version of swd_ros_controllers, I could set different diameter values to left and right with configuration.json. Old configuration.json had SWD_LEFT and SWD_RIGHT but the latest configuration.json has only SWD_CORE.

How can I set them with the latest configuration.json?

GMezWheel commented 1 year ago

Hi @suguruhamada1003910, The configuration file has not changed. We just provide an example with the same wheel characteristics for the left and right wheel. If you want to dissociate them, just create two entry into configuration.json : SWD_LEFT and SWD_RIGHT for example and update HWConfigurationEntry item into the corresponding .ini files (swd_left.ini and swd_right.ini).

suguruhamada1003910 commented 1 year ago

@GMezWheel

Thank you for reply and I am sorry for the delayed response. I could change diameters of left and right with the method you are saying!!

suguruhamada1003910 commented 1 year ago

sample.zip

I uploaded the sample.