Comments (2)
Hi there, the wheels_x_distance_ is set to 0 on 2wd
wheels_x_distance_(base_platform == DIFFERENTIAL_DRIVE ? 0 : wheels_x_distance),
https://github.com/linorobot/linorobot/blob/master/teensy/firmware/lib/kinematics/Kinematics.cpp#L35
and rpm3 and rpm4 are 0s as it is assumed to have no encoder readings
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thanks for you.
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