From eef4f198a19a56a8265d14002c4781117c72031e Mon Sep 17 00:00:00 2001 From: Sierra Guequierre Date: Tue, 5 Sep 2023 13:20:22 -0400 Subject: [PATCH] Apply suggestions from rand/martha inline code review Co-authored-by: randhid <35934754+randhid@users.noreply.github.com> --- docs/components/movement-sensor/wheeled-odometry.md | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/docs/components/movement-sensor/wheeled-odometry.md b/docs/components/movement-sensor/wheeled-odometry.md index 505243eb55..f18abc0339 100644 --- a/docs/components/movement-sensor/wheeled-odometry.md +++ b/docs/components/movement-sensor/wheeled-odometry.md @@ -11,7 +11,7 @@ tags: ["movement sensor", "components", "movement sensor"] Configure a `wheeled-odometry` movement sensor to implement _wheeled odometry_ on your robot. _Wheeled odometry_ is the estimation of the rate of change of position, orientation, linear velocity, and angular velocity using the dimensions of a base, calculated by measuring the movement of the motors through encoders. -This model uses [encoders](/components/encoder/) from [position reporting motors](/components/motor/) to get an odometry estimate from a wheeled base. +This model uses [encoders](/components/encoder/) from [position reporting motors](/components/motor/) to get an odometry estimate of a wheeled base as it moves. With a configured `wheeled-odometry` movement sensor, after every time `time_interval_msec` elapses during a [session](/program/apis/sessions/), your robot calculates an estimation of the position, orientation, linear velocity, and angular velocity of the wheeled base. You can access these readings through the [movement sensor API](/components/movement-sensor/#api). @@ -22,12 +22,11 @@ After configuring a `wheeled-odometry` movement sensor, you can operate your bas To prepare your robot, attach [encoders](/components/encoder/) to each of the position-reporting motors on your base to measure their rotation. -- Pick out motors that can report their own position, like the [`roboclaw`](/components/motor/roboclaw/) or [`gpio` motors](/components/motor/gpio/) with [encoders](/components/encoder/#configuration). +- Pick out motors that can report their own position, like an encoded [`roboclaw`](/components/motor/roboclaw/) or [`gpio` motors](/components/motor/gpio/) with [encoders](/components/encoder/#configuration), or the [`odrive`](/components/motor/odrive/) module. You can access this property of a configured motor through the [motor API's `GetProperties()`](/components/motor/#getproperties). - Configure your rover as a [wheeled base component](/components/base/wheeled/). - Configure each of the position-reporting motors [as motor components](/components/motor/). -- Configure an [encoder component](/components/encoder/#configuration) for each of the encoders you attached to the position-reporting motors. -- Then, proceed to [configure](#configuration) a `wheeledodometry` movement sensor with the name of each of the encoder components. +- Then, proceed to [configure](#configuration) a `wheeledodometry` movement sensor with the name of each of the motor components. {{% alert title="Tip" color="tip" %}} @@ -64,6 +63,6 @@ The following attributes are available for `wheeledodometry` movement sensors: | Name | Type | Inclusion | Description | | ---- | ---- | --------- | ----------- | | `base` | string | **Required** | The `name` of the [base](/components/base/) to which the encoders making up this movement sensor are wired. | -| `left_motors` | object | **Required** | A struct holding the name of each of the bases' left [position-reporting motors](/components/motor/gpio/). | -| `right_motors` | object | **Required** | A struct holding the name of each of the bases' right [position-reporting motors](/components/motor/gpio/). | +| `left_motors` | object | **Required** | A list holding the name of each of the bases' left [position-reporting motors](/components/motor/gpio/). | +| `right_motors` | object | **Required** | A list holding the name of each of the bases' right [position-reporting motors](/components/motor/gpio/). | | `time_interval_msec` | number | Optional | The time in between each wheeled odometry calculation.
Default: `500.0`
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