search

sbgisen / vesc

VESC Interface for ROS
Apache License 2.0
47 stars 34 forks source link

fix conversion bug and initialization method #66

Closed jsupratman13 closed 1 year ago

jsupratman13 commented 1 year ago

Change Summary

Details

Impacts

References

Additional Information

nyxrobotics commented 1 year ago

I want to make sure it works, but what should I look for?

jsupratman13 commented 1 year ago

I want to make sure it works, but what should I look for?

8761e3f this commit is essential the same commit as https://github.com/sbgisen/vesc/pull/58/commits/6837166bb63b306229afbe12292ac766af45b4d7 where the steps initialization process on VescWheelController is the same process as the one used in VescServoController. Since the previous PR is already approved, you can just test the VescWheelController to make sure it behaves the same before this PR.

245eeb8 this commit fix the velocity calculation for VescServoController. Since VescServoController doesn't use the velocity, this is more for debug/visualization and have no direct impact on performance. You can make sure the equation is correct and if you want, you can test to see if the given velocity match with the actual velocity.