clober_utils.cpp

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#include <clober_serial/clober_utils.hpp>
 
 
float CloberUtils::toRPM(float w){
    float rpm = (w * 60.0) / (2 * PI);
    return rpm;
}
 
float CloberUtils::toVelocity(float rpm)
{
    float w = (rpm * 2.0 * PI) / 60.0;
    return w;
}
 
float CloberUtils::toRad(float enc, int ppr)
{
    float rad = (enc * 2.0 * PI) / ppr;
    return rad;
}