From e1a204a97dd6a610c8ab9f933e676e9800eeef92 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Antoni=20Gab=C3=A1s=20Nova?= <abagas@iri.upc.edu>
Date: Wed, 17 Feb 2016 19:19:46 +0000
Subject: [PATCH] Solved a bug in the calculation of the speed rate. The values
must be coded in fixed point float format 3|5.
---
src/robotis_bin_file/robotis_bin_parser.cpp | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/src/robotis_bin_file/robotis_bin_parser.cpp b/src/robotis_bin_file/robotis_bin_parser.cpp
index 725880c..3e190b7 100644
--- a/src/robotis_bin_file/robotis_bin_parser.cpp
+++ b/src/robotis_bin_file/robotis_bin_parser.cpp
@@ -4,6 +4,7 @@
#include <string.h>
#include <iostream>
#include <stdlib.h>
+#include <math.h>
CBinFileParser::CBinFileParser()
{
@@ -137,7 +138,7 @@ void CBinFileParser::serialize(const char *filename)
this->pages[i+1].header.next=page.get_next_page();
this->pages[i+1].header.exit=page.get_exit_page();
this->pages[i+1].header.repeat=page.get_repetitions();
- this->pages[i+1].header.speed=page.get_speed_rate()*32;
+ this->pages[i+1].header.speed=round((1.0/page.get_speed_rate())*32.0);
this->pages[i+1].header.accel=page.get_inertial();
this->pages[i+1].header.stepnum=page.get_num_steps();
for(j=0;j<page.get_num_steps();j++)
--
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