From 8521805b147a8385eb1e138425caf0c9cb1db668 Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Tue, 9 Jul 2024 13:40:52 +0200 Subject: [PATCH] Fix: Arduino_Alvik::drive() not working due to function parameter not being used. There was an additional bug concerning erroneous unit conversion. --- src/Arduino_Alvik.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/Arduino_Alvik.cpp b/src/Arduino_Alvik.cpp index 068feb7..26f33cc 100644 --- a/src/Arduino_Alvik.cpp +++ b/src/Arduino_Alvik.cpp @@ -394,12 +394,12 @@ void Arduino_Alvik::get_drive_speed(float & linear, float & angular, const uint8 void Arduino_Alvik::drive(const float linear, const float angular, const uint8_t linear_unit, const uint8_t angular_unit){ if (angular_unit == PERCENTAGE){ - converted_angular = (robot_velocity[1]/ROBOT_MAX_DEG_S)*100.0; + converted_angular = (angular/ROBOT_MAX_DEG_S)*100.0; } else{ - converted_angular = convert_rotational_speed(robot_velocity[1], DEG_S, angular_unit); - } - msg_size = packeter->packetC2F('V', convert_speed(linear, linear_unit, MM_S), angular); + converted_angular = convert_rotational_speed(angular, angular_unit, DEG_S); + } + msg_size = packeter->packetC2F('V', convert_speed(linear, linear_unit, MM_S), converted_angular); uart->write(packeter->msg, msg_size); }