fix typo

arduino-libraries · Feb 26, 2024 · bdac052 · bdac052
1 parent b424851
commit bdac052
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/src/Arduino_AlvikCarrier.cpp b/src/Arduino_AlvikCarrier.cpp
@@ -695,7 +695,7 @@ void Arduino_AlvikCarrier::updateKinematics(){
         if (kinematics_movement==MOVEMENT_ROTATE){
             rotate_pid->update(kinematics->getTheta());
             drive(0, round(rotate_pid->getControlOutput()/10.0)*10);
-            if (abs(rotate_pid->getError())<ROTATE_THREASHOLD){
+            if (abs(rotate_pid->getError())<ROTATE_THRESHOLD){
                 kinematics_achieved=true;
                 disableKinematicsMovement();
                 drive(0,0);
@@ -704,7 +704,7 @@ void Arduino_AlvikCarrier::updateKinematics(){
         if (kinematics_movement==MOVEMENT_MOVE){
             move_pid->update((kinematics->getTravel()-previous_travel)*move_direction);
             drive(round(move_pid->getControlOutput()/10.0)*10, 0);
-            if (abs(move_pid->getError())<MOVE_THREADSHOLD){
+            if (abs(move_pid->getError())<MOVE_THRESHOLD){
                 kinematics_achieved=true;
                 disableKinematicsMovement();
                 drive(0,0);

diff --git a/src/definitions/robot_definitions.h b/src/definitions/robot_definitions.h
@@ -46,14 +46,14 @@ const float MOTOR_RATIO = MOTOR_CPR*MOTOR_GEAR_RATIO;
 #define ROTATE_KD_DEFAULT 0.001
 #define ROTATE_CONTROL_PERIOD 0.02
 #define ROTATE_MAX_SPEED 45.0
-#define ROTATE_THREASHOLD 1
+#define ROTATE_THRESHOLD 1
 
 #define MOVE_KP_DEFAULT 5.0
 #define MOVE_KI_DEFAULT 0.0
 #define MOVE_KD_DEFAULT 0.001
 #define MOVE_CONTROL_PERIOD 0.02
 #define MOVE_MAX_SPEED 45.0
-#define MOVE_THREADSHOLD 3
+#define MOVE_THRESHOLD 3
 
 #define MOVEMENT_DISABLED 0
 #define MOVEMENT_ROTATE 1