changing from servo_frames to uptime for easier comprehension

src/segway_rmp200.cpp

@@ -53,7 +53,7 @@ void CSegwayRMP200::init_attributes(void)
   this->roll_angle=0.0;
   this->roll_rate=0.0;
   this->yaw_rate=0.0;
-  this->servo_frames=0.0;
+  this->uptime=0.0;
   this->left_wheel_displ=0.0;
   this->right_wheel_displ=0.0;
   this->forward_displ=0.0;
@@ -278,7 +278,7 @@ void CSegwayRMP200::parse_packet(segway_packet *packet)
       case 0x0402: this->left_wheel_velocity=((float)((short int)(((int)packet->data[9]<<8)+(int)packet->data[10])))*COUNTS_2_METSEC;
                    this->right_wheel_velocity=((float)((short int)(((int)packet->data[11]<<8)+(int)packet->data[12])))*COUNTS_2_METSEC;
                    this->yaw_rate=((float)((short int)(((int)packet->data[13]<<8)+(int)packet->data[14])))*COUNTSDEG_2_RADSEC;
-                   this->servo_frames=((float)((unsigned short int)(((int)packet->data[15]<<8)+(int)packet->data[16])))*SECFRAMES_2_FRAMESEC;
+                   this->uptime=((float)((unsigned short int)(((int)packet->data[15]<<8)+(int)packet->data[16])))*FRAMES_2_SEC;
                    break; 
       case 0x0403: this->left_wheel_displ=((float)((int)(((int)packet->data[11]<<24)+((int)packet->data[12]<<16)+((int)packet->data[9]<<8)+(int)packet->data[10])))*COUNTSMETR_2_METR; 
                    this->right_wheel_displ=((float)((int)(((int)packet->data[15]<<24)+((int)packet->data[16]<<16)+((int)packet->data[13]<<8)+(int)packet->data[14])))*COUNTSMETR_2_METR;
@@ -668,7 +668,7 @@ TSegwayRMP200Status CSegwayRMP200::get_status(void)
     status.right_wheel_displ    = this->right_wheel_displ;
     status.forward_displ        = this->forward_displ;
     status.yaw_displ            = this->yaw_displ;
-    status.servo_frames         = this->servo_frames;
+    status.uptime               = this->uptime;
     status.left_torque          = this->left_torque;
     status.right_torque         = this->right_torque;
     status.ui_battery           = this->ui_battery;
@@ -716,9 +716,9 @@ float CSegwayRMP200::get_yaw_rate(void)
   return this->yaw_rate;
 }
 
-float CSegwayRMP200::get_servo_frames(void)
+float CSegwayRMP200::get_uptime(void)
 {
-  return this->servo_frames;
+  return this->uptime;
 }
 
 float CSegwayRMP200::get_left_wheel_displacement(void)
@@ -947,7 +947,7 @@ std::ostream& operator<< (std::ostream& out, CSegwayRMP200& segway)
   out << "Left wheel velocity: " << segway.left_wheel_velocity << " m/s" << std::endl;
   out << "Right wheel velocity: " << segway.right_wheel_velocity << " m/s" << std::endl;
   out << "Yaw rate: " << segway.yaw_rate*CSegwayRMP200::RADS_2_DEGS << " degrees/s" << std::endl;
-  out << "Servo frames: " << segway.servo_frames << " frames/s" << std::endl;
+  out << "Up time: " << segway.uptime << " s" << std::endl;
   out << "Left wheel displacement: " << segway.left_wheel_displ << " m" << std::endl;
   out << "Right wheel displacement: " << segway.right_wheel_displ << " m" << std::endl;
   out << "Forward displacement: " << segway.forward_displ << " m" << std::endl;

src/segway_rmp200.h

@@ -85,7 +85,7 @@ struct TSegwayRMP200Status
     float forward_displ;
     float yaw_displ;
     // Other configurations
-    float servo_frames;
+    float uptime;
     float left_torque;
     float right_torque;
     float ui_battery;
@@ -187,7 +187,7 @@ class CSegwayRMP200
     static const float COUNTSDEG_2_RAD           = M_PI/(7.8f*180.f);
     static const float COUNTSDEG_2_RADSEC        = M_PI/(7.8f*180.f);
     static const float COUNTS_2_METSEC           = 1.f/332.f;
-    static const float SECFRAMES_2_FRAMESEC      = 1.f/0.01f;
+    static const float FRAMES_2_SEC              = 0.01f;
     static const float COUNTSMETR_2_METR         = 1.f/33215.f;
     static const float COUNTSREV_2_RADS          = 2.f*M_PI/112644.f;
     static const float COUNTSNEWTMETR_2_NEWTMETR = 1.f/1094.f;
@@ -507,12 +507,12 @@ class CSegwayRMP200
     /**
      * \brief number of frames per second
      *
-     * This value has the number of servo frames in fames per second. This value is
-     * periodically updated by the read thread and it is not possible to modify it 
-     * otherwise. To get its value use the get_servo_frames() function or the
-     * overloaded operator <<.
+     * This value has the number of second since the platform power up. This 
+     * value is periodically updated by the read thread and it is not possible
+     * to modify it otherwise. To get its value use the get_uptime() 
+     * function or the overloaded operator <<.
      */
-    float servo_frames; 
+    float uptime; 
     /**
      * \brief left wheel displacement
      *
@@ -1218,16 +1218,16 @@ class CSegwayRMP200
      */
     float get_yaw_rate(void);
     /**
-     * \brief function to return the number of servo frames per second
+     * \brief function to return the number of seconds since power up
      *
-     * This function returns the current number of servo frames per second. This 
-     * function only returns the value of the internal attribute, but it does
-     * not access the hardware platform. This value is periodically updated by
-     * the feedback thread.
+     * This function returns the current number of seconds the platform has been
+     * running. This function only returns the value of the internal attribute, 
+     * but it does not access the hardware platform. This value is periodically 
+     * updated by the feedback thread.
      *
-     * \return the current number of servo frames per second.
+     * \return the current number of seconds since power up.
      */
-    float get_servo_frames(void);
+    float get_uptime(void);
     /**
      * \brief function to return the left wheel displacement
      *
@@ -1452,7 +1452,7 @@ class CSegwayRMP200
      * Left wheel velocity: <left_wheel_velocity> m/s
      * Right wheel velocity: <right_wheel_velocity> m/s
      * Yaw rate: <yaw_rate> radians/s
-     * Servo frames: <servo_frames> frames/s
+     * Up time: <uptime> s
      * Left wheel displacement: <left_wheel_displ> m
      * Right wheel displacement: <right_wheel_displ> m
      * Forward displacement: <forward_displ> m