Merge remote-tracking branch 'origin/integration' into costmap

umrover · Apr 25, 2024 · a29f629 · a29f629
2 parents 054b377 + 5a80767
commit a29f629
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/esw/drive_bridge/main.cpp b/src/esw/drive_bridge/main.cpp
@@ -60,7 +60,7 @@ void moveDrive(geometry_msgs::Twist::ConstPtr const& msg) {
     RadiansPerSecond left_outer = (forward - delta_outer) * WHEEL_LINEAR_TO_ANGULAR;
     RadiansPerSecond right_outer = (forward + delta_outer) * WHEEL_LINEAR_TO_ANGULAR;
 
-    constexpr auto MAX_SPEED = RevolutionsPerSecond{15};
+    constexpr auto MAX_SPEED = RadiansPerSecond{15 * 2 * M_PI};
     RadiansPerSecond maximal = std::max(abs(left_outer), abs(right_outer));
     if (maximal > MAX_SPEED) {
         Dimensionless changeRatio = MAX_SPEED / maximal;