Use steady clock for computing velocity (#59)

jacobperron · web-flow · commit fd1d0a220f02 · 2021-03-25T16:04:41.000-07:00
Signed-off-by: Jacob Perron &lt;jacob@openrobotics.org&gt;
diff --git a/include/create/create.h b/include/create/create.h
@@ -80,7 +80,7 @@ namespace create {
       float totalLeftDist;
       float totalRightDist;
       bool firstOnData;
-      std::chrono::time_point<std::chrono::system_clock> prevOnDataTime;
+      std::chrono::time_point<std::chrono::steady_clock> prevOnDataTime;
 
       Matrix poseCovar;
 
diff --git a/src/create.cpp b/src/create.cpp
@@ -93,12 +93,12 @@ namespace create {
         prevTicksLeft = GET_DATA(ID_LEFT_ENC);
         prevTicksRight = GET_DATA(ID_RIGHT_ENC);
       }
-      prevOnDataTime = std::chrono::system_clock::now();
+      prevOnDataTime = std::chrono::steady_clock::now();
       firstOnData = false;
     }
 
     // Get current time
-    auto curTime = std::chrono::system_clock::now();
+    auto curTime = std::chrono::steady_clock::now();
     float dt = static_cast<std::chrono::duration<float>>(curTime - prevOnDataTime).count();
     float deltaDist, deltaX, deltaY, deltaYaw, leftWheelDist, rightWheelDist, wheelDistDiff;
 

Original file line number	Diff line number	Diff line change
`@@ -93,12 +93,12 @@ namespace create {`
`93`	`93`	`prevTicksLeft = GET_DATA(ID_LEFT_ENC);`
`94`	`94`	`prevTicksRight = GET_DATA(ID_RIGHT_ENC);`
`95`	`95`	`}`
`96`		`- prevOnDataTime = std::chrono::system_clock::now();`
	`96`	`+ prevOnDataTime = std::chrono::steady_clock::now();`
`97`	`97`	`firstOnData = false;`
`98`	`98`	`}`
`99`	`99`
`100`	`100`	`// Get current time`
`101`		`- auto curTime = std::chrono::system_clock::now();`
	`101`	`+ auto curTime = std::chrono::steady_clock::now();`
`102`	`102`	`float dt = static_cast<std::chrono::duration<float>>(curTime - prevOnDataTime).count();`
`103`	`103`	`float deltaDist, deltaX, deltaY, deltaYaw, leftWheelDist, rightWheelDist, wheelDistDiff;`
`104`	`104`