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Enforced float() type on wheel_track for dth calculation

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This commit is contained in:
Patrick Goebel 2016-04-18 06:47:36 -07:00
parent a43f33e1b6
commit 171ed94a31
1 changed files with 4 additions and 4 deletions
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8
ros_arduino_python/src/ros_arduino_python/base_controller.py
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@ -44,16 +44,16 @@ class BaseController:
self.stopped = False
pid_params = dict()
pid_params['wheel_diameter'] = rospy.get_param("~wheel_diameter", "")
pid_params['wheel_diameter'] = rospy.get_param("~wheel_diameter", "")
pid_params['wheel_track'] = rospy.get_param("~wheel_track", "")
pid_params['encoder_resolution'] = rospy.get_param("~encoder_resolution", "")
pid_params['encoder_resolution'] = rospy.get_param("~encoder_resolution", "")
pid_params['gear_reduction'] = rospy.get_param("~gear_reduction", 1.0)
pid_params['Kp'] = rospy.get_param("~Kp", 20)
pid_params['Kd'] = rospy.get_param("~Kd", 12)
pid_params['Ki'] = rospy.get_param("~Ki", 0)
pid_params['Ko'] = rospy.get_param("~Ko", 50)
self.accel_limit = rospy.get_param('~accel_limit', 0.1)
self.accel_limit = rospy.get_param('~accel_limit', 1.0)
self.motors_reversed = rospy.get_param("~motors_reversed", False)
# Set up PID parameters and check for missing values
@ -149,7 +149,7 @@ class BaseController:
self.enc_left = left_enc
dxy_ave = self.odom_linear_scale_correction * (dright + dleft) / 2.0
dth = self.odom_angular_scale_correction * (dright - dleft) / self.wheel_track
dth = self.odom_angular_scale_correction * (dright - dleft) / float(self.wheel_track)
vxy = dxy_ave / dt
vth = dth / dt