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Bugfix removed conversion from rpm to rad s

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PerFrivik
2024-02-05 11:18:58 +01:00
committed by Matthias Grob
parent 17d55dddd6
commit 1917c138f7
1 changed files with 1 additions and 2 deletions
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src/modules/simulation/gz_bridge/GZMixingInterfaceWheel.cpp
+1 -2
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@@ -111,8 +111,7 @@ void GZMixingInterfaceWheel::wheelSpeedCallback(const gz::msgs::Actuators &actua
wheel_encoders_s wheel_encoders{}; wheel_encoders_s wheel_encoders{};
for (int i = 0; i < actuators.velocity_size(); i++) { for (int i = 0; i < actuators.velocity_size(); i++) {
// Convert from RPM to rad/s wheel_encoders.wheel_speed[i] = (float)actuators.velocity(i);
wheel_encoders.wheel_speed[i] = (float)actuators.velocity(i) * (2.0f * M_PI_F / 60.0f);
} }
if (actuators.velocity_size() > 0) { if (actuators.velocity_size() > 0) {