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Sem van der Hoeven
2023-05-25 12:37:27 +02:00
parent e7dc035a83
commit 4532e33c7f
1 changed files with 4 additions and 3 deletions
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3
src/drone_controls/src/PositionChanger.cpp
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@@ -168,8 +168,9 @@ public:
{ {
RCLCPP_INFO(this->get_logger(), "Incoming request\nfront_back: %f\nleft_right: %f\nup_down: %f\nangle: %f", request->front_back, request->left_right, request->up_down, request->angle); RCLCPP_INFO(this->get_logger(), "Incoming request\nfront_back: %f\nleft_right: %f\nup_down: %f\nangle: %f", request->front_back, request->left_right, request->up_down, request->angle);
// TODO add check_move_direction_allowed results to this calculation // TODO add check_move_direction_allowed results to this calculation
this->current_yaw += request->angle * (M_PI / 180.0); // get the angle in radians this->current_yaw += (request->angle % 360) * (M_PI / 180.0); // get the angle in radians
get_x_y_with_rotation(request->front_back, request->left_right, this->current_yaw, &this->current_speed_x, &this->current_speed_y); get_x_y_with_rotation(request->front_back, request->left_right, this->current_yaw, &this->current_speed_x, &this->current_speed_y);
response->success = true;
} }
/** /**