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Account for small derivation in ticks #1

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Account for small derivation in ticks #1

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3 changes: 1 addition & 2 deletions roboclaw_node/nodes/roboclaw_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -51,8 +51,7 @@ def update(self, enc_left, enc_right):
d_time = (current_time - self.last_enc_time).to_sec()
self.last_enc_time = current_time

# TODO find better what to determine going straight, this means slight deviation is accounted
if left_ticks == right_ticks:
if abs(left_ticks / right_ticks - 1) < 0.05:
d_theta = 0.0
self.cur_x += dist * cos(self.cur_theta)
self.cur_y += dist * sin(self.cur_theta)
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