Quote:
// finally, normalize the wheel speed commands
// so that no wheel speed command exceeds magnitude of 1:
max = abs(front_left);
if (abs(front_right)>max) max = abs(front_right);
if (abs(rear_left)>max) max=abs(rear_left);
if (abs(rear_right)>max) max=abs(rear_right);
if (max>1)
{front_left/=max; front_right/=max; rear_left/=max; rear_right/=max;}
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So what is the value of max? It seems you forgot a couple lines of code there.
I am assuming 1.0 but just want to make sure.
And thanks that that pdf, it was really helpful.