Fix unit scaling

Yaskawa-Global · Oct 5, 2023 · 9492838 · 9492838
1 parent f753fde
commit 9492838
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Showing 2 changed files with 9 additions and 8 deletions.
diff --git a/src/MathConstants.h b/src/MathConstants.h
@@ -17,6 +17,9 @@
 
 // macro
 #define MICROMETERS_TO_METERS(x)    (x * 0.000001)
+#define METERS_TO_MICROMETERS(x)    (x * 1000000)
+#define RAD_TO_DEG_0001(x)          (x * DEGREES_PER_RAD * 10000)
+#define DEG_0001_TO_RAD(x)          ((x / 10000) * RAD_PER_DEGREE)
 
 // used for comparing floating point values
 #define EPSILON_TOLERANCE_DOUBLE (0.001)

diff --git a/src/PositionMonitor.c b/src/PositionMonitor.c
@@ -295,16 +295,14 @@ void Ros_PositionMonitor_CalculateTransforms(int groupIndex, long* pulsePos_moto
         {
             switch (group->baseTrackInfo.motionType[i])
             {
-            case MOTION_TYPE_X: coordTrackTravel.x = track_pos_meters[i]; break;
-            case MOTION_TYPE_Y: coordTrackTravel.y = track_pos_meters[i]; break;
-            case MOTION_TYPE_Z: coordTrackTravel.z = track_pos_meters[i]; break;
-            case MOTION_TYPE_RX: coordTrackTravel.rx = track_pos_meters[i]; break;
-            case MOTION_TYPE_RY: coordTrackTravel.ry = track_pos_meters[i]; break;
-            case MOTION_TYPE_RZ: coordTrackTravel.rz = track_pos_meters[i]; break;
+            case MOTION_TYPE_X: coordTrackTravel.x = METERS_TO_MICROMETERS(track_pos_meters[i]); break;
+            case MOTION_TYPE_Y: coordTrackTravel.y = METERS_TO_MICROMETERS(track_pos_meters[i]); break;
+            case MOTION_TYPE_Z: coordTrackTravel.z = METERS_TO_MICROMETERS(track_pos_meters[i]); break;
+            case MOTION_TYPE_RX: coordTrackTravel.rx = RAD_TO_DEG_0001(track_pos_meters[i]); break;
+            case MOTION_TYPE_RY: coordTrackTravel.ry = RAD_TO_DEG_0001(track_pos_meters[i]); break;
+            case MOTION_TYPE_RZ: coordTrackTravel.rz = RAD_TO_DEG_0001(track_pos_meters[i]); break;
             }
         }
-        Ros_Debug_BroadcastMsg("coordTrackTravel.x = %.3f", coordTrackTravel.x);
-        Ros_Debug_BroadcastMsg("coordTrackTravel.y = %.3f", coordTrackTravel.y);
         mpZYXeulerToFrame(&coordWorldToBase, &frameWorldToTrack);
         mpZYXeulerToFrame(&coordTrackTravel, &frameTrackTravel);
         mpZYXeulerToFrame(&group->baseTrackInfo.offsetFromBaseToRobotOrigin, &frameTrackToRobot);