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enc_counts_per_rev parameter changed to enc_counts_per_rev_l/r #9

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enc_counts_per_rev parameter changed to enc_counts_per_rev_l/r #9

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7 changes: 4 additions & 3 deletions hardware/diffbot_system.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,8 @@ hardware_interface::CallbackReturn DiffDriveArduinoHardware::on_init(
cfg_.device = info_.hardware_parameters["device"];
cfg_.baud_rate = std::stoi(info_.hardware_parameters["baud_rate"]);
cfg_.timeout_ms = std::stoi(info_.hardware_parameters["timeout_ms"]);
cfg_.enc_counts_per_rev = std::stoi(info_.hardware_parameters["enc_counts_per_rev"]);
cfg_.enc_counts_per_rev_l = std::stoi(info_.hardware_parameters["enc_counts_per_rev_l"]);
cfg_.enc_counts_per_rev_r = std::stoi(info_.hardware_parameters["enc_counts_per_rev_r"]);
if (info_.hardware_parameters.count("pid_p") > 0)
{
cfg_.pid_p = std::stoi(info_.hardware_parameters["pid_p"]);
Expand All @@ -56,8 +57,8 @@ hardware_interface::CallbackReturn DiffDriveArduinoHardware::on_init(
}


wheel_l_.setup(cfg_.left_wheel_name, cfg_.enc_counts_per_rev);
wheel_r_.setup(cfg_.right_wheel_name, cfg_.enc_counts_per_rev);
wheel_l_.setup(cfg_.left_wheel_name, cfg_.enc_counts_per_rev_l);
wheel_r_.setup(cfg_.right_wheel_name, cfg_.enc_counts_per_rev_r);


for (const hardware_interface::ComponentInfo & joint : info_.joints)
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3 changes: 2 additions & 1 deletion hardware/include/diffdrive_arduino/diffbot_system.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,8 @@ struct Config
std::string device = "";
int baud_rate = 0;
int timeout_ms = 0;
int enc_counts_per_rev = 0;
int enc_counts_per_rev_l = 0;
int enc_counts_per_rev_r = 0;
int pid_p = 0;
int pid_d = 0;
int pid_i = 0;
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