From ef3bad29bb246dff2705135cdd337a6c4bc740dc Mon Sep 17 00:00:00 2001 From: MaartenS11 Date: Sat, 9 Dec 2023 14:41:44 +0100 Subject: [PATCH 1/2] Fix integer division in EV3 motor code The integer division caused any speed lower than 1000 to become 0resulting in a motor that didn't do anything. --- controller/hardware/actuator/motor/ev3-large-motor.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/controller/hardware/actuator/motor/ev3-large-motor.cpp b/controller/hardware/actuator/motor/ev3-large-motor.cpp index e19c6ed..8e47db9 100644 --- a/controller/hardware/actuator/motor/ev3-large-motor.cpp +++ b/controller/hardware/actuator/motor/ev3-large-motor.cpp @@ -43,7 +43,7 @@ void EV3LargeMotor::forward(int32_t rotation) return; } - float speed = m_motor_speed / 1000; + float speed = m_motor_speed / 1000.0; drive_motor(speed, rotation); } @@ -65,7 +65,7 @@ void EV3LargeMotor::backward(int32_t rotation) return; } - float speed = m_motor_speed / 1000; + float speed = m_motor_speed / 1000.0; drive_motor(-speed, -rotation); } From 04aedc73e1c5d085a40bb8f4c0f4c529c0e32555 Mon Sep 17 00:00:00 2001 From: MaartenS11 Date: Sat, 9 Dec 2023 15:48:17 +0100 Subject: [PATCH 2/2] Add "f" at the end --- controller/hardware/actuator/motor/ev3-large-motor.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/controller/hardware/actuator/motor/ev3-large-motor.cpp b/controller/hardware/actuator/motor/ev3-large-motor.cpp index 8e47db9..b72b67b 100644 --- a/controller/hardware/actuator/motor/ev3-large-motor.cpp +++ b/controller/hardware/actuator/motor/ev3-large-motor.cpp @@ -43,7 +43,7 @@ void EV3LargeMotor::forward(int32_t rotation) return; } - float speed = m_motor_speed / 1000.0; + float speed = m_motor_speed / 1000.0f; drive_motor(speed, rotation); } @@ -65,7 +65,7 @@ void EV3LargeMotor::backward(int32_t rotation) return; } - float speed = m_motor_speed / 1000.0; + float speed = m_motor_speed / 1000.0f; drive_motor(-speed, -rotation); }