speed conversion in velocity2qpps and qpp2velocity are off
Achllle opened this issue · comments
Currently, when you publish a low angular velocity, the wheel actually spins about 40 times as fast as it should (which mostly maxes out). I realized there was a mistake before, that's why there was the speed_adjustment_factor with a default value of 0.1.
Instead of dividing by 2pi, we should multiply by 2pi in one method, and vice versa in the other. I went through the math to verify and it checks out now. I used a tachometer to verify the speed of a wheel and it matches the input beautifully now. PR coming soon.