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Implemented reading speed from the Roboclaw

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Timothy Scott
2019-07-05 16:48:23 +02:00
committed by Julian Oes
parent 2406aa8b50
commit 834ae3128f
4 changed files with 77 additions and 17 deletions
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msg/wheel_encoders.msg
+1 -1
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@@ -9,7 +9,7 @@ uint64 timestamp # time since system start (microseconds)
# TODO: How large should the arrays be? What if we have a 6-wheeled rover?
bool[4] has_encoder # True for each wheel that has an encoder
int64[4] encoder_position # The wheel position, in encoder counts since boot. Positive is forward rotation, negative is reverse rotation
float32[4] speed # Speed of each wheel, in encoder counts per second. Positive is forward, negative is reverse
int32[4] speed # Speed of each wheel, in encoder counts per second. Positive is forward, negative is reverse
# TODO: Should this be just one uint32, assuming each wheel has the same encoder?
uint32[4] pulses_per_rev # Number of pulses per revolution for each wheel