From 50a97fa4a0f420b660991c563a34093bd74dcfb9 Mon Sep 17 00:00:00 2001 From: Martin Vajnar Date: Mon, 5 Aug 2013 18:42:23 +0200 Subject: [PATCH] ROBOT_DEMO: correct speed computation Correct calculation of speed sent to motors when moving in reverse. --- .../src/org/ocera/orte/demo/MotionSpeedPublish.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/orte/Robot_Demo/src/org/ocera/orte/demo/MotionSpeedPublish.java b/orte/Robot_Demo/src/org/ocera/orte/demo/MotionSpeedPublish.java index 746264e..d9a9850 100644 --- a/orte/Robot_Demo/src/org/ocera/orte/demo/MotionSpeedPublish.java +++ b/orte/Robot_Demo/src/org/ocera/orte/demo/MotionSpeedPublish.java @@ -60,8 +60,8 @@ public class MotionSpeedPublish implements Runnable { } omega *= 2; - speed[0] = (short)(-((v + r*omega))*VMAX); - speed[1] = (short)(-(v - r*omega)*VMAX); + speed[0] = (short)(-(v + (v>0 ? -r*omega : r*omega))*VMAX); + speed[1] = (short)(-(v - (v>0 ? -r*omega : r*omega))*VMAX); } public void cancel() { -- 2.39.2