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differential_drive: fix wheel diameter and track bug + resetbot: add trailing newline at end of file #99

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differential_drive: fix wheel diameter and track bug + resetbot: add trailing newline at end of file #99

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ce13c0f
differential_drive: fix wheel diameter and track bug
SaintSampo Jul 9, 2026
817d0a0
resetbot: add trailing newline at end of file
SaintSampo Jul 9, 2026
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14 changes: 10 additions & 4 deletions XRPLib/differential_drive.py
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Original file line number Diff line number Diff line change
Expand Up @@ -49,17 +49,23 @@ def __init__(self, left_motor: EncodedMotor, right_motor: EncodedMotor, imu: IMU

self.brake_at_zero_power = False

if (wheel_diam == 0.0):
# Resolve hardware defaults when the caller leaves the arg at its 0.0 sentinel;
# honor any explicit non-zero value that is passed in.
if wheel_diam == 0.0:
if "NanoXRP" in implementation._machine:
self.wheel_diam = 3.46
else:
self.wheel_diam = 6.0
else:
self.wheel_diam = wheel_diam

if (wheel_track == 0.0):
if wheel_track == 0.0:
if "NanoXRP" in implementation._machine:
self.wheel_track = 7.8
else:
self.wheel_track = 15.5
else:
self.wheel_track = wheel_track

self.heading_pid = None
self.current_heading = None
Expand Down Expand Up @@ -267,7 +273,7 @@ def straight(self, distance: float, max_effort: float = 0.5, timeout: float = No
# record current heading to maintain it
current_heading = self.imu.get_yaw()
else:
current_heading = ((right_delta-left_delta)/2)*360/(self.track_width*math.pi)
current_heading = ((right_delta-left_delta)/2)*360/(self.wheel_track*math.pi)

headingCorrection = secondary_controller.update(initial_heading - current_heading)

Expand Down Expand Up @@ -363,7 +369,7 @@ def turn(self, turn_degrees: float, max_effort: float = 0.5, timeout: float = No
turn_error = turn_degrees - self.imu.get_yaw()
else:
# calculate turn error (in degrees) from the encoder counts
turn_error = turn_degrees - ((right_delta-left_delta)/2)*360/(self.track_width*math.pi)
turn_error = turn_degrees - ((right_delta-left_delta)/2)*360/(self.wheel_track*math.pi)

# Pass the turn error to the main controller to get a turn speed
turn_speed = main_controller.update(turn_error)
Expand Down
2 changes: 1 addition & 1 deletion XRPLib/resetbot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -77,4 +77,4 @@ def reset_hard():
reset_servos()

if "XRPLib.webserver" in sys.modules:
reset_webserver()
reset_webserver()