From 999c118078f3af8a2ec8f8659db86bbdc0798780 Mon Sep 17 00:00:00 2001
From: Florian Eckstein <florian.eckstein@evocortex.com>
Date: Thu, 7 Jul 2022 12:38:36 +0200
Subject: [PATCH 1/2] changed odom params

---
 launch/evo_base_4_lift_driver.launch | 18 +++++++++---------
 launch/evo_base_driver.launch        | 18 +++++++++---------
 2 files changed, 18 insertions(+), 18 deletions(-)

diff --git a/launch/evo_base_4_lift_driver.launch b/launch/evo_base_4_lift_driver.launch
index fdc1f80..478b784 100644
--- a/launch/evo_base_4_lift_driver.launch
+++ b/launch/evo_base_4_lift_driver.launch
@@ -33,7 +33,7 @@
 		<param name="enable_lift_control"		value="true" />
     <param name="debug_motor_mapping"   value="false"      />
     
-    <param name="wheel_radius_in_m"  		       value="0.05"      />
+    <param name="wheel_radius_in_m"  		       value="0.047"      />
     <param name="wheel_distance_front_back_in_m"       value="0.45"     />
     <param name="wheel_distance_left_right_in_m"       value="0.4"     />
 
@@ -66,8 +66,8 @@
     	<param name="kd" 		            value="0.0"    />
     	<param name="pwm_limit"         value="100.0"  />
      	<param name="rpm_limit"         value="200.0"  />
-    	<param name="gear_ratio"        value="22.4"  />
-    	<param name="encoder_res"       value="1024.0"  />
+    	<param name="gear_ratio"        value="29.333"  />
+    	<param name="encoder_res"       value="512.0"  />
       <param name="adc_conv"					value="0.0" />			
 			<param name="adc_offs"					value="0.0" />
     	<param name="motor_mapping"     value="3"  />
@@ -82,8 +82,8 @@
     	<param name="kd" 		            value="0.0"    />
     	<param name="pwm_limit"         value="100.0"  />
     	<param name="rpm_limit"         value="200.0"  />
-    	<param name="gear_ratio"        value="22.4"  />
-    	<param name="encoder_res"       value="1024.0"  />
+    	<param name="gear_ratio"        value="29.333"  />
+    	<param name="encoder_res"       value="512.0"  />
       <param name="adc_conv"					value="0.0" />			
 			<param name="adc_offs"					value="0.0" />
     	<param name="motor_mapping"     value="2"  />
@@ -104,8 +104,8 @@
     	<param name="kd" 		            value="0.0"    />
     	<param name="pwm_limit"         value="100.0"  />
     	<param name="rpm_limit"         value="200.0"  />
-    	<param name="gear_ratio"        value="22.4"  />
-    	<param name="encoder_res"       value="1024.0"  />
+    	<param name="gear_ratio"        value="29.333"  />
+    	<param name="encoder_res"       value="512.0"  />
       <param name="adc_conv"					value="0.0" />			
 			<param name="adc_offs"					value="0.0" />
     	<param name="motor_mapping"     value="4"  />
@@ -120,8 +120,8 @@
     	<param name="kd" 		            value="0.0"    />
     	<param name="pwm_limit"         value="100.0"  />
      	<param name="rpm_limit"         value="200.0"  />
-    	<param name="gear_ratio"        value="22.4"  />
-    	<param name="encoder_res"       value="1024.0"  />
+    	<param name="gear_ratio"        value="29.333"  />
+    	<param name="encoder_res"       value="512.0"  />
       <param name="adc_conv"					value="0.0" />			
 			<param name="adc_offs"					value="0.0" />
     	<param name="motor_mapping"     value="1"  />
diff --git a/launch/evo_base_driver.launch b/launch/evo_base_driver.launch
index 6de02d3..31e54b4 100644
--- a/launch/evo_base_driver.launch
+++ b/launch/evo_base_driver.launch
@@ -35,7 +35,7 @@
 <!-- base params -->
     <param name="debug_motor_mapping"  		       value="false"      />
     
-    <param name="wheel_radius_in_m"  		       value="0.04"      />
+    <param name="wheel_radius_in_m"  		       value="0.047"      />
     <param name="wheel_distance_front_back_in_m"       value="0.60"     />
     <param name="wheel_distance_left_right_in_m"       value="0.325"     />
 
@@ -66,8 +66,8 @@
     	<param name="kd" 		            value="0.0"    />
     	<param name="pwm_limit"         value="100.0"  />
      	<param name="rpm_limit"         value="200.0"  />
-    	<param name="gear_ratio"        value="22.4"  />
-    	<param name="encoder_res"       value="1024.0"  />
+    	<param name="gear_ratio"        value="29.333"  />
+    	<param name="encoder_res"       value="512.0"  />
       <param name="adc_conv"					value="0.0" />			
 			<param name="adc_offs"					value="0.0" />
     	<param name="motor_mapping"     value="3"  />
@@ -82,8 +82,8 @@
     	<param name="kd" 		            value="0.0"    />
     	<param name="pwm_limit"         value="100.0"  />
      	<param name="rpm_limit"         value="200.0"  />
-    	<param name="gear_ratio"        value="22.4"  />
-    	<param name="encoder_res"       value="1024.0"  />
+    	<param name="gear_ratio"        value="29.333"  />
+    	<param name="encoder_res"       value="512.0"  />
       <param name="adc_conv"					value="0.0" />			
 			<param name="adc_offs"					value="0.0" />
     	<param name="motor_mapping"     value="2"  />
@@ -104,8 +104,8 @@
     	<param name="kd" 		            value="0.0"    />
     	<param name="pwm_limit"         value="100.0"  />
      	<param name="rpm_limit"         value="200.0"  />
-    	<param name="gear_ratio"        value="22.4"  />
-    	<param name="encoder_res"       value="1024.0"  />
+    	<param name="gear_ratio"        value="29.333"  />
+    	<param name="encoder_res"       value="512.0"  />
       <param name="adc_conv"					value="0.0" />			
 			<param name="adc_offs"					value="0.0" />
     	<param name="motor_mapping"     value="4"  />
@@ -120,8 +120,8 @@
     	<param name="kd" 		            value="0.0"    />
     	<param name="pwm_limit"         value="100.0"  />
      	<param name="rpm_limit"         value="200.0"  />
-    	<param name="gear_ratio"        value="22.4"  />
-    	<param name="encoder_res"       value="1024.0"  />
+    	<param name="gear_ratio"        value="29.333"  />
+    	<param name="encoder_res"       value="512.0"  />
       <param name="adc_conv"					value="0.0" />			
 			<param name="adc_offs"					value="0.0" />
     	<param name="motor_mapping"     value="1"  />

From d774565947b9398bd03965db0db2d831a3f83a86 Mon Sep 17 00:00:00 2001
From: Florian Eckstein <florian.eckstein@evocortex.com>
Date: Thu, 7 Jul 2022 15:17:23 +0200
Subject: [PATCH 2/2] updated odom params and added gear ratio history

---
 launch/evo_base_4_lift_driver.launch |  9 +++++----
 launch/evo_base_driver.launch        | 10 ++++++----
 2 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/launch/evo_base_4_lift_driver.launch b/launch/evo_base_4_lift_driver.launch
index 478b784..681e764 100644
--- a/launch/evo_base_4_lift_driver.launch
+++ b/launch/evo_base_4_lift_driver.launch
@@ -49,6 +49,7 @@
 <!-- Motor Mapping drives: 0 = no_pos, 1=front_left, 2=front_right, 3=back_right, 4=back_left-->
 <!-- Motor Types: 0 = no_type, 1=lift, 2=drive-->
 
+<!-- Possible gear ratios: 29.3; 22.909; 15.909-->
 
 <group ns="$(arg NodeName)">
   <param name="init_n_motorshields"     value="4"    />
@@ -66,7 +67,7 @@
     	<param name="kd" 		            value="0.0"    />
     	<param name="pwm_limit"         value="100.0"  />
      	<param name="rpm_limit"         value="200.0"  />
-    	<param name="gear_ratio"        value="29.333"  />
+    	<param name="gear_ratio"        value="22.909"  />
     	<param name="encoder_res"       value="512.0"  />
       <param name="adc_conv"					value="0.0" />			
 			<param name="adc_offs"					value="0.0" />
@@ -82,7 +83,7 @@
     	<param name="kd" 		            value="0.0"    />
     	<param name="pwm_limit"         value="100.0"  />
     	<param name="rpm_limit"         value="200.0"  />
-    	<param name="gear_ratio"        value="29.333"  />
+    	<param name="gear_ratio"        value="22.909"  />
     	<param name="encoder_res"       value="512.0"  />
       <param name="adc_conv"					value="0.0" />			
 			<param name="adc_offs"					value="0.0" />
@@ -104,7 +105,7 @@
     	<param name="kd" 		            value="0.0"    />
     	<param name="pwm_limit"         value="100.0"  />
     	<param name="rpm_limit"         value="200.0"  />
-    	<param name="gear_ratio"        value="29.333"  />
+    	<param name="gear_ratio"        value="22.909"  />
     	<param name="encoder_res"       value="512.0"  />
       <param name="adc_conv"					value="0.0" />			
 			<param name="adc_offs"					value="0.0" />
@@ -120,7 +121,7 @@
     	<param name="kd" 		            value="0.0"    />
     	<param name="pwm_limit"         value="100.0"  />
      	<param name="rpm_limit"         value="200.0"  />
-    	<param name="gear_ratio"        value="29.333"  />
+    	<param name="gear_ratio"        value="22.909"  />
     	<param name="encoder_res"       value="512.0"  />
       <param name="adc_conv"					value="0.0" />			
 			<param name="adc_offs"					value="0.0" />
diff --git a/launch/evo_base_driver.launch b/launch/evo_base_driver.launch
index 31e54b4..05744df 100644
--- a/launch/evo_base_driver.launch
+++ b/launch/evo_base_driver.launch
@@ -51,6 +51,8 @@
 <!-- Motor Mapping drives: 0 = no_pos, 1=front_left, 2=front_right, 3=back_right, 4=back_left-->
 <!-- Motor Types: 0 = no_type, 1=lift, 2=drive-->
 
+<!-- Possible gear ratios: 29.3; 22.909; 15.909-->
+
 <group ns="$(arg NodeName)">
   <param name="init_n_motorshields"     value="2"    />
   <group ns="ms1">
@@ -66,7 +68,7 @@
     	<param name="kd" 		            value="0.0"    />
     	<param name="pwm_limit"         value="100.0"  />
      	<param name="rpm_limit"         value="200.0"  />
-    	<param name="gear_ratio"        value="29.333"  />
+    	<param name="gear_ratio"        value="22.909"  />
     	<param name="encoder_res"       value="512.0"  />
       <param name="adc_conv"					value="0.0" />			
 			<param name="adc_offs"					value="0.0" />
@@ -82,7 +84,7 @@
     	<param name="kd" 		            value="0.0"    />
     	<param name="pwm_limit"         value="100.0"  />
      	<param name="rpm_limit"         value="200.0"  />
-    	<param name="gear_ratio"        value="29.333"  />
+    	<param name="gear_ratio"        value="22.909"  />
     	<param name="encoder_res"       value="512.0"  />
       <param name="adc_conv"					value="0.0" />			
 			<param name="adc_offs"					value="0.0" />
@@ -104,7 +106,7 @@
     	<param name="kd" 		            value="0.0"    />
     	<param name="pwm_limit"         value="100.0"  />
      	<param name="rpm_limit"         value="200.0"  />
-    	<param name="gear_ratio"        value="29.333"  />
+    	<param name="gear_ratio"        value="22.909"  />
     	<param name="encoder_res"       value="512.0"  />
       <param name="adc_conv"					value="0.0" />			
 			<param name="adc_offs"					value="0.0" />
@@ -120,7 +122,7 @@
     	<param name="kd" 		            value="0.0"    />
     	<param name="pwm_limit"         value="100.0"  />
      	<param name="rpm_limit"         value="200.0"  />
-    	<param name="gear_ratio"        value="29.333"  />
+    	<param name="gear_ratio"        value="22.909"  />
     	<param name="encoder_res"       value="512.0"  />
       <param name="adc_conv"					value="0.0" />			
 			<param name="adc_offs"					value="0.0" />