Roboclaw: major cleanup

PX4 · Nov 14, 2023 · d146eb1 · d146eb1
1 parent 2eb1954
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diff --git a/msg/WheelEncoders.msg b/msg/WheelEncoders.msg
@@ -1,4 +1,5 @@
 uint64 timestamp			# time since system start (microseconds)
 
-float32[4] wheel_angle #Wheel angle of encoder, if two wheels wheel_angle[0] = right wheel and wheel_angle[1] = left wheel. Else [0][1] = right and [2][3] are left.
-float32[4] wheel_speed #Wheel speed of encoder, if two wheels wheel_angle[0] = right wheel and wheel_angle[1] = left wheel. Else [0][1] = right and [2][3] are left.
+# Two wheels: 0 left, 1 right
+float32[2] wheel_speed # [rad/s]
+float32[2] wheel_angle # [rad]