Commit 2e3c1b05 authored by Johannes Mey's avatar Johannes Mey
Browse files

fix mapping and set planner to 'fluid'

parent 0fa7f92a
Pipeline #7123 passed with stages
in 5 minutes and 25 seconds
......@@ -22,7 +22,7 @@ SerializeRobotConfig maps config.Robotconfig.RobotConfig rc to byte[] {:
LinkStateToIntPosition maps panda.Linkstate.PandaLinkState pls to IntPosition {:
// System.out.println("LinkStateToIntPosition");
panda.Linkstate.PandaLinkState.Position p = pls.getPos();
return IntPosition.of((int) (Math.round(p.getPositionX() * 2)), (int) (Math.round(p.getPositionY() * 2)), (int) (Math.round(p.getPositionZ() * 2 + 0.5)));
return IntPosition.of((int) (Math.round(p.getPositionX() * 2)), (int) (Math.round(p.getPositionY() * 2)), (int) (Math.round(p.getPositionZ() * 2 - 0.5)));
:}
CreateSpeedMessage maps double speed to config.Robotconfig.RobotConfig {:
......@@ -30,6 +30,6 @@ CreateSpeedMessage maps double speed to config.Robotconfig.RobotConfig {:
return config.Robotconfig.RobotConfig.newBuilder()
.setSpeed(speed)
.setLoopTrajectory(true)
.setPlanningMode(config.Robotconfig.RobotConfig.PlanningMode.CARTESIAN)
.setPlanningMode(config.Robotconfig.RobotConfig.PlanningMode.FLUID)
.build();
:}
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