{"action":"opened","issue":{"url":"https://api.github.com/repos/UBC-Snowbots/Snowflake/issues/250","repository_url":"https://api.github.com/repos/UBC-Snowbots/Snowflake","labels_url":"https://api.github.com/repos/UBC-Snowbots/Snowflake/issues/250/labels{/name}","comments_url":"https://api.github.com/repos/UBC-Snowbots/Snowflake/issues/250/comments","events_url":"https://api.github.com/repos/UBC-Snowbots/Snowflake/issues/250/events","html_url":"https://github.com/UBC-Snowbots/Snowflake/issues/250","id":271216020,"number":250,"title":"Improve the Twist Message -> Actual Movement Mapping in Olaf Firmware","user":{"login":"garethellis0","id":9075711,"avatar_url":"https://avatars0.githubusercontent.com/u/9075711?v=4","gravatar_id":"","url":"https://api.github.com/users/garethellis0","html_url":"https://github.com/garethellis0","followers_url":"https://api.github.com/users/garethellis0/followers","following_url":"https://api.github.com/users/garethellis0/following{/other_user}","gists_url":"https://api.github.com/users/garethellis0/gists{/gist_id}","starred_url":"https://api.github.com/users/garethellis0/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/garethellis0/subscriptions","organizations_url":"https://api.github.com/users/garethellis0/orgs","repos_url":"https://api.github.com/users/garethellis0/repos","events_url":"https://api.github.com/users/garethellis0/events{/privacy}","received_events_url":"https://api.github.com/users/garethellis0/received_events","type":"User","site_admin":false},"labels":[{"id":740660193,"url":"https://api.github.com/repos/UBC-Snowbots/Snowflake/labels/firmware","name":"firmware","color":"a6ef8f","default":false}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":{"url":"https://api.github.com/repos/UBC-Snowbots/Snowflake/milestones/2","html_url":"https://github.com/UBC-Snowbots/Snowflake/milestone/2","labels_url":"https://api.github.com/repos/UBC-Snowbots/Snowflake/milestones/2/labels","id":2787094,"number":2,"title":"IARRC 2018","description":"","creator":{"login":"garethellis0","id":9075711,"avatar_url":"https://avatars0.githubusercontent.com/u/9075711?v=4","gravatar_id":"","url":"https://api.github.com/users/garethellis0","html_url":"https://github.com/garethellis0","followers_url":"https://api.github.com/users/garethellis0/followers","following_url":"https://api.github.com/users/garethellis0/following{/other_user}","gists_url":"https://api.github.com/users/garethellis0/gists{/gist_id}","starred_url":"https://api.github.com/users/garethellis0/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/garethellis0/subscriptions","organizations_url":"https://api.github.com/users/garethellis0/orgs","repos_url":"https://api.github.com/users/garethellis0/repos","events_url":"https://api.github.com/users/garethellis0/events{/privacy}","received_events_url":"https://api.github.com/users/garethellis0/received_events","type":"User","site_admin":false},"open_issues":3,"closed_issues":0,"state":"open","created_at":"2017-09-23T18:41:33Z","updated_at":"2017-11-04T19:04:51Z","due_on":"2018-01-25T08:00:00Z","closed_at":null},"comments":0,"created_at":"2017-11-04T19:04:51Z","updated_at":"2017-11-04T19:04:51Z","closed_at":null,"author_association":"COLLABORATOR","body":"Currently, we just have an arbitrary relationship between the `angular_z` and `linear_x` and the actual turn rate and motor speed. `angular_z` is supposed to be in rad/s and `linear_x` is in m/s. \r\n\r\nThere are two main points to be done here:\r\n- implement some sort of relation between `angular_z` and `angle` under the `drive` function, assuming `angular_z` is in rad/s, such that we turn at the expected rate (up to maximum the servo turning the wheels can go)\r\n- implement some sort of relation between `linear_x` and `velocity` under the `drive` function, assuming `linear_x` is in m/s, such that we move at the expected rate"}}
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