Use int32_t number to avoid integer overflow.

BlueAndi · Aug 20, 2024 · 8a411e4 · 8a411e4
1 parent 1df025c
commit 8a411e4
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/lib/Service/src/DifferentialDrive.cpp b/lib/Service/src/DifferentialDrive.cpp
@@ -251,7 +251,7 @@ void DifferentialDrive::calculateLinearSpeedLeftRight(int16_t linearSpeedCenter,
     int32_t wheelBase32             = static_cast<int32_t>(RobotConstants::WHEEL_BASE);          /* [mm] */
     int32_t encoderStepsPerM32      = static_cast<int32_t>(RobotConstants::ENCODER_STEPS_PER_M); /* [steps/m] */
     int32_t linearSpeedTurnInPlace32 =
-        (angularSpeed32 * wheelBase32 * encoderStepsPerM32) / (2 * 1000 * 1000); /* [steps/s] */
+        (angularSpeed32 * wheelBase32 * encoderStepsPerM32) / static_cast<int32_t>(2000000); /* [steps/s] */
 
     linearSpeedLeft  = halfLinearSpeedCenter32 - linearSpeedTurnInPlace32; /* [steps/s] */
     linearSpeedRight = halfLinearSpeedCenter32 + linearSpeedTurnInPlace32; /* [steps/s] */