Page 1 of 1

Actual wheel velocity

Posted: Thu Nov 12, 2020 4:20 pm
by jtrautmann
Hello,

I'm using differential_steering actuator and sensor in my controller. Unfortunately I realized that the velocities for the wheels that the sensor returns are always those of the actuator. If the robot has to accelerate to reach the velocity given by the actuator and does not reach it in one tick, the sensor already returns the goal velocity and not the current one. Is there any easy way to get the actual wheel velocity?

Thank you in advance!

Re: Actual wheel velocity

Posted: Thu Nov 12, 2020 4:35 pm
by pincy
It's a missing feature. Both the differential drive sensor and the actuator use the same attributes of CWheeledEntity to read/write their velocities.

https://github.com/ilpincy/argos3/blob/ ... r.cpp#L125

https://github.com/ilpincy/argos3/blob/ ... or.cpp#L65

https://github.com/ilpincy/argos3/blob/ ... tity.h#L71

The correct implementation would be to distinguish between actual and desired. I guess I'll have to fix this, I can't see a way to do what you ask without changing these classes.

Re: Actual wheel velocity

Posted: Fri Nov 13, 2020 1:45 pm
by jtrautmann
Okay, thank you for the reply! Is there any forecast when you could fix it?

Re: Actual wheel velocity

Posted: Wed Nov 25, 2020 9:36 am
by pincy
Let me survive the semester (Dec 15) and then I'll fix that, along with a bunch of other things :-)