Commit f55eb978 authored by Mugisha David's avatar Mugisha David

Ajusting distance to rover frame origin values

parent 7f53dbd0
......@@ -36,11 +36,11 @@ class RoverKinematics:
def speed_steering_distribution(self, twist):
vx_r = twist.linear.x
vy_r = twist.linear.y + 10*twist.angular.z
vy_r = twist.linear.y - 2*twist.angular.z
vx_c = vx_r
vy_c = twist.linear.y + 4*twist.angular.z
vy_c = twist.linear.y - 0.2*twist.angular.z
vx_f = vx_r
vy_f = twist.linear.y - 4*twist.angular.z
vy_f = twist.linear.y + 0.2*twist.angular.z
data = {'steering':{}, 'speed':{}}
data['steering']['RL'] = atan2(vy_r,vx_r)
data['steering']['RR'] = atan2(vy_r,vx_r)
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment