got motor running

2025-12-14 18:57:28 +01:00
parent d339f5b297
commit bd906add53
14 changed files with 123 additions and 78 deletions
@@ -66,7 +66,7 @@ void RangedMotor::setGearboxRatio(float gearboxRatio) noexcept

 void RangedMotor::setScaleCalibration(float scaleCalibration) noexcept
 {
-    if (abs(gearboxRatio) < COMP_EPSILON) {
+    if (abs(scaleCalibration) < COMP_EPSILON) {
        StateMachine::getInstance().raiseError("Zero-scale-calibration was set on ranged motor!");
        return;
    }
@@ -129,5 +129,5 @@ float RangedMotor::hardwareAngleToVirtualAngle(float hardwareAngle) const noexce

 float RangedMotor::calculateScaleCalibration(const float virtualRange, const float hardwareRange)
 {
-    return virtualRange / hardwareRange;
+    return hardwareRange / virtualRange;
 }