From: Erik Andresen <erik@vontaene.de>
Date: Fri, 28 Oct 2016 20:38:24 +0000 (+0200)
Subject: motor_ctrl: tune odometry from umbmark
X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=commitdiff_plain;h=5bd96ab44a206b5e85d0f70213046d356f39eef2

motor_ctrl: tune odometry from umbmark
---

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index abbf538..805788f 100644
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -105,11 +105,13 @@
 #define KI 0.10
 #define KD 0.0
 #define PID_T 0.01
-// wheel diameter=12cm, encoder=48cpr, gear ratio=1:47, real wheel diameter: 0.12454m
-#define STEP_PER_M_AVG 5766.1
-#define STEP_PER_M_LEFT (STEP_PER_M_AVG)
-#define STEP_PER_M_RIGHT (STEP_PER_M_AVG)
-#define WHEEL_DIST 0.36923 // Real: 0.252
+// wheel diameter=12cm, encoder=48cpr, gear ratio=1:47
+// STEP_PER_M = 48*47/(d*pi)
+// Left real diameter: 0.12808
+#define STEP_PER_M_LEFT 5606.7
+// Right real diameter: 0.121
+#define STEP_PER_M_RIGHT 5934.8
+#define WHEEL_DIST 0.39912 // Measured: 0.252
 #define PWM_BREAK INT16_MIN
 
 enum mode {
diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex
index c405f68..24dd914 100644
--- a/avr/motor_ctrl/main.hex
+++ b/avr/motor_ctrl/main.hex
@@ -1,680 +1,683 @@
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diff --git a/config/razor.yaml b/config/razor.yaml
index e4a3c12..cb81148 100644
--- a/config/razor.yaml
+++ b/config/razor.yaml
@@ -23,8 +23,8 @@ magn_z_max: 596
 
 # extended calibration
 calibration_magn_use_extended: true
-magn_ellipsoid_center: [302.374, 39.5765, -397.215]
-magn_ellipsoid_transform: [[0.924637, -0.0539937, 0.0408358], [-0.0539937, 0.958933, 0.0208039], [0.0408358, 0.0208039, 0.947891]]
+magn_ellipsoid_center: [328.442, 29.7813, -414.405]
+magn_ellipsoid_transform: [[0.912198, -0.0995186, 0.00347704], [-0.0995186, 0.879227, 0.0332387], [0.00347704, 0.0332387, 0.892227]]
 
 # AHRS to robot calibration
 imu_yaw_calibration: 0.0