From dc0b22bf31d1b11347be0c9dd9786739faef99fe Mon Sep 17 00:00:00 2001
From: shernand <darwin@darwin.users.iri.prv>
Date: Sat, 2 Sep 2017 19:20:04 +0200
Subject: [PATCH] Changed the coding of the roll and pitch shift angles.
---
src/darwin_robot.cpp | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/src/darwin_robot.cpp b/src/darwin_robot.cpp
index 2336f96..67a32e2 100644
--- a/src/darwin_robot.cpp
+++ b/src/darwin_robot.cpp
@@ -1990,7 +1990,7 @@ void CDarwinRobot::stairs_set_roll_shift(double angle)
if(this->robot_device!=NULL)
{
- value=(unsigned char)((angle*180.0/PI)*8.0);
+ value=(unsigned char)((angle*180.0/PI)*4.0);
this->robot_device->write_byte_register(DARWIN_STAIRS_R_SHIFT,value);
usleep(10000);
}
@@ -2005,7 +2005,7 @@ double CDarwinRobot::stairs_get_roll_shift(void)
if(this->robot_device!=NULL)
{
this->robot_device->read_byte_register(DARWIN_STAIRS_R_SHIFT,&value);
- return (((double)value)*PI/180.0)/8.0;
+ return (((double)value)*PI/180.0)/4.0;
}
else
throw CDarwinRobotException(_HERE_,"Invalid robot device");
@@ -2017,7 +2017,7 @@ void CDarwinRobot::stairs_set_pitch_shift(double angle)
if(this->robot_device!=NULL)
{
- value=(unsigned char)((angle*180.0/PI)*8.0);
+ value=(unsigned char)((angle*180.0/PI)*4.0);
this->robot_device->write_byte_register(DARWIN_STAIRS_P_SHIFT,value);
usleep(10000);
}
@@ -2032,7 +2032,7 @@ double CDarwinRobot::stairs_get_pitch_shift(void)
if(this->robot_device!=NULL)
{
this->robot_device->read_byte_register(DARWIN_STAIRS_P_SHIFT,&value);
- return (((double)value)*PI/180.0)/8.0;
+ return (((double)value)*PI/180.0)/4.0;
}
else
throw CDarwinRobotException(_HERE_,"Invalid robot device");
--
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