Classes | Functions | Variables
openrover Namespace Reference

Classes

class  OdomControl
 
class  OpenRover
 
struct  PidGains
 

Functions

rr_openrover_driver_msgs::SmartBatteryStatus interpret_battery_status (uint16_t bits)
 

Variables

const int BUILD_NUMBER_WITH_GOOD_RPM_DATA = 100
 
const int CONTROLLER_DEADBAND_COMP = 0
 
const int ENCODER_MAX = 14000
 
const int ENCODER_MIN = 40
 
const int FAST_SIZE = sizeof(ROBOT_DATA_INDEX_FAST) / sizeof(ROBOT_DATA_INDEX_FAST[0])
 
const int i_BATTERY_CURRENT_A = 68
 
const int i_BATTERY_CURRENT_B = 70
 
const int i_BATTERY_MODE_A = 56
 
const int i_BATTERY_MODE_B = 58
 
const int i_BATTERY_STATUS_A = 52
 
const int i_BATTERY_STATUS_B = 54
 
const int i_BATTERY_TEMP_A = 60
 
const int i_BATTERY_TEMP_B = 62
 
const int i_BATTERY_VOLTAGE_A = 64
 
const int i_BATTERY_VOLTAGE_B = 66
 
const int i_BUILDNO = 40
 
const int i_ENCODER_INTERVAL_MOTOR_FLIPPER = 32
 
const int i_ENCODER_INTERVAL_MOTOR_LEFT = 28
 
const int i_ENCODER_INTERVAL_MOTOR_RIGHT = 30
 
const int i_REG_FLIPPER_FB_POSITION_POT1 = 6
 
const int i_REG_FLIPPER_FB_POSITION_POT2 = 8
 
const int i_REG_MOTOR_CHARGER_STATE = 38
 
const int i_REG_MOTOR_FAULT_FLAG_LEFT = 18
 
const int i_REG_MOTOR_FB_CURRENT_LEFT = 10
 
const int i_REG_MOTOR_FB_CURRENT_RIGHT = 12
 
const int i_REG_MOTOR_FB_RPM_LEFT = 2
 
const int i_REG_MOTOR_FB_RPM_RIGHT = 4
 
const int i_REG_MOTOR_FLIPPER_ANGLE = 46
 
const int i_REG_MOTOR_TEMP_LEFT = 20
 
const int i_REG_MOTOR_TEMP_RIGHT = 22
 
const int i_REG_POWER_A_CURRENT = 42
 
const int i_REG_POWER_B_CURRENT = 44
 
const int i_REG_POWER_BAT_VOLTAGE_A = 24
 
const int i_REG_POWER_BAT_VOLTAGE_B = 26
 
const int i_REG_PWR_TOTAL_CURRENT = 0
 
const int i_REG_ROBOT_REL_SOC_A = 34
 
const int i_REG_ROBOT_REL_SOC_B = 36
 
const int LOOP_RATE = 1000
 
const int MAX_ACCEL_CUTOFF = 20
 
const int MEDIUM_SIZE = sizeof(ROBOT_DATA_INDEX_MEDIUM) / sizeof(ROBOT_DATA_INDEX_MEDIUM[0])
 
const int MOTOR_DEADBAND = 9
 
const int MOTOR_DIFF_MAX = 200
 
const int MOTOR_FLIPPER_COEF = 100
 
const int MOTOR_NEUTRAL = 125
 
const float MOTOR_RPM_TO_MPS_CFB = -0.07
 
const float MOTOR_RPM_TO_MPS_RATIO = 13749 / 1.26
 
const int MOTOR_SPEED_ANGULAR_COEF_2WD_HS = 10
 
const int MOTOR_SPEED_ANGULAR_COEF_4WD_HS = 6
 
const int MOTOR_SPEED_ANGULAR_COEF_F_HS = 50
 
const float MOTOR_SPEED_CW_TURN_COEF = 1.0
 
const int MOTOR_SPEED_LINEAR_COEF_2WD_HS = 30
 
const int MOTOR_SPEED_LINEAR_COEF_4WD_HS = 31
 
const int MOTOR_SPEED_LINEAR_COEF_F_HS = 90
 
const int MOTOR_SPEED_MAX = 250
 
const int MOTOR_SPEED_MIN = 0
 
const float ODOM_ANGULAR_COEF_2WD = 1.0 / (ODOM_AXLE_TRACK_2WD * 2.54 / 100)
 
const float ODOM_ANGULAR_COEF_4WD = 1.0 / (ODOM_AXLE_TRACK_4WD * 2.54 / 100)
 
const float ODOM_ANGULAR_COEF_F = 0.5 / (ODOM_AXLE_TRACK_F * 2.54 / 100)
 
const float ODOM_AXLE_TRACK_2WD = 14.375
 
const float ODOM_AXLE_TRACK_4WD = 14.375
 
const float ODOM_AXLE_TRACK_F = 10.75
 
const float ODOM_ENCODER_COEF_2WD = 182.405
 
const float ODOM_ENCODER_COEF_4WD = 182.405
 
const float ODOM_ENCODER_COEF_F = 110.8
 
const float ODOM_TRACTION_FACTOR_2WD = 0.9877
 
const float ODOM_TRACTION_FACTOR_4WD = 0.9
 
const float ODOM_TRACTION_FACTOR_F = 0.75
 
const int ROBOT_DATA_INDEX_FAST []
 
const int ROBOT_DATA_INDEX_MEDIUM []
 
const int ROBOT_DATA_INDEX_SLOW []
 
const int SERIAL_IN_PACKAGE_LENGTH = 5
 
const int SERIAL_OUT_PACKAGE_LENGTH = 7
 
const unsigned char SERIAL_START_BYTE = 253
 
const int SLOW_SIZE = sizeof(ROBOT_DATA_INDEX_SLOW) / sizeof(ROBOT_DATA_INDEX_SLOW[0])
 
const float WHEEL_TO_TRACK_RATIO = 1.818
 

Function Documentation

◆ interpret_battery_status()

rr_openrover_driver_msgs::SmartBatteryStatus openrover::interpret_battery_status ( uint16_t  bits)

Definition at line 623 of file openrover_driver.cpp.

Variable Documentation

◆ BUILD_NUMBER_WITH_GOOD_RPM_DATA

const int openrover::BUILD_NUMBER_WITH_GOOD_RPM_DATA = 100

Definition at line 7 of file constants.hpp.

◆ CONTROLLER_DEADBAND_COMP

const int openrover::CONTROLLER_DEADBAND_COMP = 0

Definition at line 51 of file constants.hpp.

◆ ENCODER_MAX

const int openrover::ENCODER_MAX = 14000

Definition at line 58 of file constants.hpp.

◆ ENCODER_MIN

const int openrover::ENCODER_MIN = 40

Definition at line 59 of file constants.hpp.

◆ FAST_SIZE

const int openrover::FAST_SIZE = sizeof(ROBOT_DATA_INDEX_FAST) / sizeof(ROBOT_DATA_INDEX_FAST[0])

Definition at line 138 of file constants.hpp.

◆ i_BATTERY_CURRENT_A

const int openrover::i_BATTERY_CURRENT_A = 68

Definition at line 111 of file constants.hpp.

◆ i_BATTERY_CURRENT_B

const int openrover::i_BATTERY_CURRENT_B = 70

Definition at line 112 of file constants.hpp.

◆ i_BATTERY_MODE_A

const int openrover::i_BATTERY_MODE_A = 56

Definition at line 104 of file constants.hpp.

◆ i_BATTERY_MODE_B

const int openrover::i_BATTERY_MODE_B = 58

Definition at line 105 of file constants.hpp.

◆ i_BATTERY_STATUS_A

const int openrover::i_BATTERY_STATUS_A = 52

Definition at line 102 of file constants.hpp.

◆ i_BATTERY_STATUS_B

const int openrover::i_BATTERY_STATUS_B = 54

Definition at line 103 of file constants.hpp.

◆ i_BATTERY_TEMP_A

const int openrover::i_BATTERY_TEMP_A = 60

Definition at line 106 of file constants.hpp.

◆ i_BATTERY_TEMP_B

const int openrover::i_BATTERY_TEMP_B = 62

Definition at line 107 of file constants.hpp.

◆ i_BATTERY_VOLTAGE_A

const int openrover::i_BATTERY_VOLTAGE_A = 64

Definition at line 109 of file constants.hpp.

◆ i_BATTERY_VOLTAGE_B

const int openrover::i_BATTERY_VOLTAGE_B = 66

Definition at line 110 of file constants.hpp.

◆ i_BUILDNO

const int openrover::i_BUILDNO = 40

Definition at line 93 of file constants.hpp.

◆ i_ENCODER_INTERVAL_MOTOR_FLIPPER

const int openrover::i_ENCODER_INTERVAL_MOTOR_FLIPPER = 32

Definition at line 88 of file constants.hpp.

◆ i_ENCODER_INTERVAL_MOTOR_LEFT

const int openrover::i_ENCODER_INTERVAL_MOTOR_LEFT = 28

Definition at line 86 of file constants.hpp.

◆ i_ENCODER_INTERVAL_MOTOR_RIGHT

const int openrover::i_ENCODER_INTERVAL_MOTOR_RIGHT = 30

Definition at line 87 of file constants.hpp.

◆ i_REG_FLIPPER_FB_POSITION_POT1

const int openrover::i_REG_FLIPPER_FB_POSITION_POT1 = 6

Definition at line 75 of file constants.hpp.

◆ i_REG_FLIPPER_FB_POSITION_POT2

const int openrover::i_REG_FLIPPER_FB_POSITION_POT2 = 8

Definition at line 76 of file constants.hpp.

◆ i_REG_MOTOR_CHARGER_STATE

const int openrover::i_REG_MOTOR_CHARGER_STATE = 38

Definition at line 92 of file constants.hpp.

◆ i_REG_MOTOR_FAULT_FLAG_LEFT

const int openrover::i_REG_MOTOR_FAULT_FLAG_LEFT = 18

Definition at line 80 of file constants.hpp.

◆ i_REG_MOTOR_FB_CURRENT_LEFT

const int openrover::i_REG_MOTOR_FB_CURRENT_LEFT = 10

Definition at line 78 of file constants.hpp.

◆ i_REG_MOTOR_FB_CURRENT_RIGHT

const int openrover::i_REG_MOTOR_FB_CURRENT_RIGHT = 12

Definition at line 79 of file constants.hpp.

◆ i_REG_MOTOR_FB_RPM_LEFT

const int openrover::i_REG_MOTOR_FB_RPM_LEFT = 2

Definition at line 73 of file constants.hpp.

◆ i_REG_MOTOR_FB_RPM_RIGHT

const int openrover::i_REG_MOTOR_FB_RPM_RIGHT = 4

Definition at line 74 of file constants.hpp.

◆ i_REG_MOTOR_FLIPPER_ANGLE

const int openrover::i_REG_MOTOR_FLIPPER_ANGLE = 46

Definition at line 97 of file constants.hpp.

◆ i_REG_MOTOR_TEMP_LEFT

const int openrover::i_REG_MOTOR_TEMP_LEFT = 20

Definition at line 81 of file constants.hpp.

◆ i_REG_MOTOR_TEMP_RIGHT

const int openrover::i_REG_MOTOR_TEMP_RIGHT = 22

Definition at line 82 of file constants.hpp.

◆ i_REG_POWER_A_CURRENT

const int openrover::i_REG_POWER_A_CURRENT = 42

Definition at line 94 of file constants.hpp.

◆ i_REG_POWER_B_CURRENT

const int openrover::i_REG_POWER_B_CURRENT = 44

Definition at line 96 of file constants.hpp.

◆ i_REG_POWER_BAT_VOLTAGE_A

const int openrover::i_REG_POWER_BAT_VOLTAGE_A = 24

Definition at line 84 of file constants.hpp.

◆ i_REG_POWER_BAT_VOLTAGE_B

const int openrover::i_REG_POWER_BAT_VOLTAGE_B = 26

Definition at line 85 of file constants.hpp.

◆ i_REG_PWR_TOTAL_CURRENT

const int openrover::i_REG_PWR_TOTAL_CURRENT = 0

Definition at line 72 of file constants.hpp.

◆ i_REG_ROBOT_REL_SOC_A

const int openrover::i_REG_ROBOT_REL_SOC_A = 34

Definition at line 90 of file constants.hpp.

◆ i_REG_ROBOT_REL_SOC_B

const int openrover::i_REG_ROBOT_REL_SOC_B = 36

Definition at line 91 of file constants.hpp.

◆ LOOP_RATE

const int openrover::LOOP_RATE = 1000

Definition at line 17 of file constants.hpp.

◆ MAX_ACCEL_CUTOFF

const int openrover::MAX_ACCEL_CUTOFF = 20

Definition at line 52 of file constants.hpp.

◆ MEDIUM_SIZE

const int openrover::MEDIUM_SIZE = sizeof(ROBOT_DATA_INDEX_MEDIUM) / sizeof(ROBOT_DATA_INDEX_MEDIUM[0])

Definition at line 139 of file constants.hpp.

◆ MOTOR_DEADBAND

const int openrover::MOTOR_DEADBAND = 9

Definition at line 62 of file constants.hpp.

◆ MOTOR_DIFF_MAX

const int openrover::MOTOR_DIFF_MAX = 200

Definition at line 66 of file constants.hpp.

◆ MOTOR_FLIPPER_COEF

const int openrover::MOTOR_FLIPPER_COEF = 100

Definition at line 60 of file constants.hpp.

◆ MOTOR_NEUTRAL

const int openrover::MOTOR_NEUTRAL = 125

Definition at line 63 of file constants.hpp.

◆ MOTOR_RPM_TO_MPS_CFB

const float openrover::MOTOR_RPM_TO_MPS_CFB = -0.07

Definition at line 11 of file constants.hpp.

◆ MOTOR_RPM_TO_MPS_RATIO

const float openrover::MOTOR_RPM_TO_MPS_RATIO = 13749 / 1.26

Definition at line 10 of file constants.hpp.

◆ MOTOR_SPEED_ANGULAR_COEF_2WD_HS

const int openrover::MOTOR_SPEED_ANGULAR_COEF_2WD_HS = 10

Definition at line 48 of file constants.hpp.

◆ MOTOR_SPEED_ANGULAR_COEF_4WD_HS

const int openrover::MOTOR_SPEED_ANGULAR_COEF_4WD_HS = 6

Definition at line 37 of file constants.hpp.

◆ MOTOR_SPEED_ANGULAR_COEF_F_HS

const int openrover::MOTOR_SPEED_ANGULAR_COEF_F_HS = 50

Definition at line 27 of file constants.hpp.

◆ MOTOR_SPEED_CW_TURN_COEF

const float openrover::MOTOR_SPEED_CW_TURN_COEF = 1.0

Definition at line 38 of file constants.hpp.

◆ MOTOR_SPEED_LINEAR_COEF_2WD_HS

const int openrover::MOTOR_SPEED_LINEAR_COEF_2WD_HS = 30

Definition at line 47 of file constants.hpp.

◆ MOTOR_SPEED_LINEAR_COEF_4WD_HS

const int openrover::MOTOR_SPEED_LINEAR_COEF_4WD_HS = 31

Definition at line 36 of file constants.hpp.

◆ MOTOR_SPEED_LINEAR_COEF_F_HS

const int openrover::MOTOR_SPEED_LINEAR_COEF_F_HS = 90

Definition at line 26 of file constants.hpp.

◆ MOTOR_SPEED_MAX

const int openrover::MOTOR_SPEED_MAX = 250

Definition at line 64 of file constants.hpp.

◆ MOTOR_SPEED_MIN

const int openrover::MOTOR_SPEED_MIN = 0

Definition at line 65 of file constants.hpp.

◆ ODOM_ANGULAR_COEF_2WD

const float openrover::ODOM_ANGULAR_COEF_2WD = 1.0 / (ODOM_AXLE_TRACK_2WD * 2.54 / 100)

Definition at line 44 of file constants.hpp.

◆ ODOM_ANGULAR_COEF_4WD

const float openrover::ODOM_ANGULAR_COEF_4WD = 1.0 / (ODOM_AXLE_TRACK_4WD * 2.54 / 100)

Definition at line 33 of file constants.hpp.

◆ ODOM_ANGULAR_COEF_F

const float openrover::ODOM_ANGULAR_COEF_F = 0.5 / (ODOM_AXLE_TRACK_F * 2.54 / 100)

Definition at line 23 of file constants.hpp.

◆ ODOM_AXLE_TRACK_2WD

const float openrover::ODOM_AXLE_TRACK_2WD = 14.375

Definition at line 43 of file constants.hpp.

◆ ODOM_AXLE_TRACK_4WD

const float openrover::ODOM_AXLE_TRACK_4WD = 14.375

Definition at line 32 of file constants.hpp.

◆ ODOM_AXLE_TRACK_F

const float openrover::ODOM_AXLE_TRACK_F = 10.75

Definition at line 22 of file constants.hpp.

◆ ODOM_ENCODER_COEF_2WD

const float openrover::ODOM_ENCODER_COEF_2WD = 182.405

Definition at line 42 of file constants.hpp.

◆ ODOM_ENCODER_COEF_4WD

const float openrover::ODOM_ENCODER_COEF_4WD = 182.405

Definition at line 31 of file constants.hpp.

◆ ODOM_ENCODER_COEF_F

const float openrover::ODOM_ENCODER_COEF_F = 110.8

Definition at line 21 of file constants.hpp.

◆ ODOM_TRACTION_FACTOR_2WD

const float openrover::ODOM_TRACTION_FACTOR_2WD = 0.9877

Definition at line 45 of file constants.hpp.

◆ ODOM_TRACTION_FACTOR_4WD

const float openrover::ODOM_TRACTION_FACTOR_4WD = 0.9

Definition at line 34 of file constants.hpp.

◆ ODOM_TRACTION_FACTOR_F

const float openrover::ODOM_TRACTION_FACTOR_F = 0.75

Definition at line 24 of file constants.hpp.

◆ ROBOT_DATA_INDEX_FAST

const int openrover::ROBOT_DATA_INDEX_FAST[]
Initial value:
= {
i_ENCODER_INTERVAL_MOTOR_LEFT, i_ENCODER_INTERVAL_MOTOR_RIGHT,
i_REG_MOTOR_FB_RPM_LEFT, i_REG_MOTOR_FB_RPM_RIGHT
}
openrover::i_ENCODER_INTERVAL_MOTOR_RIGHT
const int i_ENCODER_INTERVAL_MOTOR_RIGHT
Definition: constants.hpp:87
openrover::i_ENCODER_INTERVAL_MOTOR_LEFT
const int i_ENCODER_INTERVAL_MOTOR_LEFT
Definition: constants.hpp:86
openrover::i_REG_MOTOR_FB_RPM_RIGHT
const int i_REG_MOTOR_FB_RPM_RIGHT
Definition: constants.hpp:74
openrover::i_REG_MOTOR_FB_RPM_LEFT
const int i_REG_MOTOR_FB_RPM_LEFT
Definition: constants.hpp:73

Definition at line 114 of file constants.hpp.

◆ ROBOT_DATA_INDEX_MEDIUM

const int openrover::ROBOT_DATA_INDEX_MEDIUM[]
Initial value:
= {
i_REG_PWR_TOTAL_CURRENT,
i_REG_FLIPPER_FB_POSITION_POT1, i_REG_FLIPPER_FB_POSITION_POT2, i_REG_MOTOR_FB_CURRENT_LEFT,
i_REG_MOTOR_FB_CURRENT_RIGHT, i_REG_MOTOR_CHARGER_STATE, i_REG_POWER_A_CURRENT, i_REG_POWER_B_CURRENT,
i_REG_MOTOR_FLIPPER_ANGLE, i_BATTERY_CURRENT_A, i_BATTERY_CURRENT_B
}
openrover::i_REG_MOTOR_FB_CURRENT_LEFT
const int i_REG_MOTOR_FB_CURRENT_LEFT
Definition: constants.hpp:78
openrover::i_REG_MOTOR_FLIPPER_ANGLE
const int i_REG_MOTOR_FLIPPER_ANGLE
Definition: constants.hpp:97
openrover::i_REG_MOTOR_CHARGER_STATE
const int i_REG_MOTOR_CHARGER_STATE
Definition: constants.hpp:92
openrover::i_REG_FLIPPER_FB_POSITION_POT2
const int i_REG_FLIPPER_FB_POSITION_POT2
Definition: constants.hpp:76
openrover::i_BATTERY_CURRENT_B
const int i_BATTERY_CURRENT_B
Definition: constants.hpp:112
openrover::i_REG_FLIPPER_FB_POSITION_POT1
const int i_REG_FLIPPER_FB_POSITION_POT1
Definition: constants.hpp:75
openrover::i_REG_POWER_B_CURRENT
const int i_REG_POWER_B_CURRENT
Definition: constants.hpp:96
openrover::i_REG_PWR_TOTAL_CURRENT
const int i_REG_PWR_TOTAL_CURRENT
Definition: constants.hpp:72
openrover::i_REG_POWER_A_CURRENT
const int i_REG_POWER_A_CURRENT
Definition: constants.hpp:94
openrover::i_REG_MOTOR_FB_CURRENT_RIGHT
const int i_REG_MOTOR_FB_CURRENT_RIGHT
Definition: constants.hpp:79
openrover::i_BATTERY_CURRENT_A
const int i_BATTERY_CURRENT_A
Definition: constants.hpp:111

Definition at line 120 of file constants.hpp.

◆ ROBOT_DATA_INDEX_SLOW

const int openrover::ROBOT_DATA_INDEX_SLOW[]
Initial value:
= {
i_REG_MOTOR_TEMP_LEFT, i_REG_MOTOR_TEMP_RIGHT, i_REG_POWER_BAT_VOLTAGE_A,
i_REG_POWER_BAT_VOLTAGE_B, i_REG_ROBOT_REL_SOC_A, i_REG_ROBOT_REL_SOC_B,
i_BATTERY_STATUS_A, i_BATTERY_STATUS_B, i_BATTERY_MODE_A,
i_BATTERY_MODE_B, i_BATTERY_TEMP_A, i_BATTERY_TEMP_B,
i_BATTERY_VOLTAGE_A, i_BATTERY_VOLTAGE_B, i_BUILDNO
}
openrover::i_BATTERY_VOLTAGE_B
const int i_BATTERY_VOLTAGE_B
Definition: constants.hpp:110
openrover::i_REG_MOTOR_TEMP_RIGHT
const int i_REG_MOTOR_TEMP_RIGHT
Definition: constants.hpp:82
openrover::i_REG_POWER_BAT_VOLTAGE_A
const int i_REG_POWER_BAT_VOLTAGE_A
Definition: constants.hpp:84
openrover::i_REG_ROBOT_REL_SOC_A
const int i_REG_ROBOT_REL_SOC_A
Definition: constants.hpp:90
openrover::i_BATTERY_VOLTAGE_A
const int i_BATTERY_VOLTAGE_A
Definition: constants.hpp:109
openrover::i_BATTERY_MODE_A
const int i_BATTERY_MODE_A
Definition: constants.hpp:104
openrover::i_BATTERY_MODE_B
const int i_BATTERY_MODE_B
Definition: constants.hpp:105
openrover::i_BATTERY_TEMP_A
const int i_BATTERY_TEMP_A
Definition: constants.hpp:106
openrover::i_REG_ROBOT_REL_SOC_B
const int i_REG_ROBOT_REL_SOC_B
Definition: constants.hpp:91
openrover::i_BATTERY_TEMP_B
const int i_BATTERY_TEMP_B
Definition: constants.hpp:107
openrover::i_REG_POWER_BAT_VOLTAGE_B
const int i_REG_POWER_BAT_VOLTAGE_B
Definition: constants.hpp:85
openrover::i_BATTERY_STATUS_A
const int i_BATTERY_STATUS_A
Definition: constants.hpp:102
openrover::i_REG_MOTOR_TEMP_LEFT
const int i_REG_MOTOR_TEMP_LEFT
Definition: constants.hpp:81
openrover::i_BATTERY_STATUS_B
const int i_BATTERY_STATUS_B
Definition: constants.hpp:103
openrover::i_BUILDNO
const int i_BUILDNO
Definition: constants.hpp:93

Definition at line 129 of file constants.hpp.

◆ SERIAL_IN_PACKAGE_LENGTH

const int openrover::SERIAL_IN_PACKAGE_LENGTH = 5

Definition at line 16 of file constants.hpp.

◆ SERIAL_OUT_PACKAGE_LENGTH

const int openrover::SERIAL_OUT_PACKAGE_LENGTH = 7

Definition at line 15 of file constants.hpp.

◆ SERIAL_START_BYTE

const unsigned char openrover::SERIAL_START_BYTE = 253

Definition at line 14 of file constants.hpp.

◆ SLOW_SIZE

const int openrover::SLOW_SIZE = sizeof(ROBOT_DATA_INDEX_SLOW) / sizeof(ROBOT_DATA_INDEX_SLOW[0])

Definition at line 140 of file constants.hpp.

◆ WHEEL_TO_TRACK_RATIO

const float openrover::WHEEL_TO_TRACK_RATIO = 1.818

Definition at line 12 of file constants.hpp.


rr_openrover_driver
Author(s): Jack Kilian
autogenerated on Mon Feb 28 2022 23:43:54