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.
"It doesn't matter what you think happened, what the Ref calls (or doesn't) is what happened. The judgement of the Ref is part of the game, live with it or don't play." - ChrisH [more] 
18-01-2011, 08:42
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