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Change joint velocity units to rad/s instead of rev/s #42

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Merged
vincenttumminello merged 2 commits into from
Jul 8, 2026
Merged

Change joint velocity units to rad/s instead of rev/s #42

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1deb13d
Change joint velocity to convert to rad/s instead of rev/s
vincenttumminello Jul 8, 2026
41b706f
Use float type PI instead of double type in clamp function
vincenttumminello Jul 8, 2026
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4 changes: 2 additions & 2 deletions NUSense/Core/Src/nusense/Convert.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -144,15 +144,15 @@ namespace nusense {
// Range: -210 - +210 = -48.09 rpm - +48.09 rpm
// Default servo limits for velocity - minimum of all for X-Series, MX-106 and MX-64
// X-Series has the minimum at 167
return utility::math::clamp(int32_t(-167), velocity, int32_t(167)) * 0.229f / 60.0f;
return utility::math::clamp(int32_t(-167), velocity, int32_t(167)) * 0.229f * 2 * static_cast<float>(M_PI) / 60.0f;
}

int32_t velocity(float velocity) {
// Base unit: 0.229 rpm = 0.0038166667 Hz (factor = 1/60)
// Range: -210 - +210 = -48.09 rpm - +48.09 rpm
// Default servo limits for velocity - minimum of all for X-Series, MX-106 and MX-64
// X-Series has the minimum at 167
return int32_t(utility::math::clamp(-167.0f, (velocity * 60.0f / 0.229f), 167.0f));
return int32_t(utility::math::clamp(-167.0f, (velocity * 60.0f / (0.229f * 2 * static_cast<float>(M_PI))), 167.0f));
}

uint32_t profile_velocity(float profile_velocity) {
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