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Roboclaw: major cleanup

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This commit is contained in:
Matthias Grob
2023-11-14 16:37:09 +01:00
parent c27181a154
commit f53edfa440
3 changed files with 279 additions and 392 deletions
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msg/WheelEncoders.msg
+3 -2
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@@ -1,4 +1,5 @@
uint64 timestamp # time since system start (microseconds)
float32[4] wheel_angle #Wheel angle of encoder, if two wheels wheel_angle[0] = right wheel and wheel_angle[1] = left wheel. Else [0][1] = right and [2][3] are left.
float32[4] wheel_speed #Wheel speed of encoder, if two wheels wheel_angle[0] = right wheel and wheel_angle[1] = left wheel. Else [0][1] = right and [2][3] are left.
# Two wheels: 0 left, 1 right
float32[2] wheel_speed # [rad/s]
float32[2] wheel_angle # [rad]