From: Michal Vokac <vokac.m@gmail.com>
Date: Fri, 6 May 2011 08:53:30 +0000 (+0200)
Subject: robofsm: Updated maxon motor gearbox reduction ratio and IRC resolution.
X-Git-Url: http://rtime.felk.cvut.cz/gitweb/eurobot/public.git/commitdiff_plain/78a81777661fbf35a46981a79349e796c2c105f4

robofsm: Updated maxon motor gearbox reduction ratio and IRC resolution.

It was necessary to switch dleft and dright to view motor odometry properly in robomon.
---

diff --git a/src/robofsm/robot_orte.c b/src/robofsm/robot_orte.c
index 7c078e4f..0ee213b3 100644
--- a/src/robofsm/robot_orte.c
+++ b/src/robofsm/robot_orte.c
@@ -150,11 +150,10 @@ void rcv_motion_irc_cb(const ORTERecvInfo *info, void *vinstance,
 	double dleft, dright, dtang, dphi;
 	static bool first_run = true;
 	/* spocitat prevodovy pomer */
-	const double n = (double)(28.0 / 1.0); 
+	const double n = (double)(29.0 / 1.0);
 
 	/* vzdalenost na pulz IRC */
-	const double c = (M_PI*2*ROBOT_WHEEL_RADIUS_M) / (n * 4*500.0);
-	
+	const double c = (M_PI*2*ROBOT_WHEEL_RADIUS_M) / (n * 4*512.0);
 	switch (info->status) {
 		case NEW_DATA:
 			if (first_run) {
@@ -165,8 +164,9 @@ void rcv_motion_irc_cb(const ORTERecvInfo *info, void *vinstance,
 				break;
 			}
 			
-			dleft = ((robot.motion_irc.left - instance->left) >> 8) * c;
-			dright = ((instance->right - robot.motion_irc.right) >> 8) * c;
+
+			dright = ((robot.motion_irc.left - instance->left) >> 8) * c;
+			dleft = ((instance->right - robot.motion_irc.right) >> 8) * c;
 
 			dtang = (dleft + dright) / 2.0;
 			dphi = (dright - dleft) / (2.0*ROBOT_ROTATION_RADIUS_M);