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Rename motor indexes constant names

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The original names are overly verbose.
Make motor pins disabled by default on all platforms except classic esp32.
Make config more clear.
This commit is contained in:
Oleg Kalachev
2026-08-17 06:01:07 +03:00
parent 5296531e20
commit 647d68f1b7
6 changed files with 38 additions and 32 deletions
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gazebo/simulator.cpp
+8 -8
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@@ -98,10 +98,10 @@ public:
const double maxThrust = 0.03 * ONE_G; // ~30 g, https://youtu.be/VtKI4Pjx8Sk?&t=78
const float scale0 = 1.0, scale1 = 1.1, scale2 = 0.9, scale3 = 1.05; // imitating motors asymmetry
float mfl = scale0 * maxThrust * motors[MOTOR_FRONT_LEFT];
float mfr = scale1 * maxThrust * motors[MOTOR_FRONT_RIGHT];
float mrl = scale2 * maxThrust * motors[MOTOR_REAR_LEFT];
float mrr = scale3 * maxThrust * motors[MOTOR_REAR_RIGHT];
float mfl = scale0 * maxThrust * motors[MOT_FL];
float mfr = scale1 * maxThrust * motors[MOT_FR];
float mrl = scale2 * maxThrust * motors[MOT_RL];
float mrr = scale3 * maxThrust * motors[MOT_RR];
body->AddLinkForce(Vector3d(0.0, 0.0, mfl), Vector3d(dist, dist, 0.0));
body->AddLinkForce(Vector3d(0.0, 0.0, mfr), Vector3d(dist, -dist, 0.0));
@@ -110,10 +110,10 @@ public:
// torque
const double maxTorque = 0.0024 * ONE_G; // ~24 g*cm
body->AddRelativeTorque(Vector3d(0.0, 0.0, scale0 * maxTorque * motors[MOTOR_FRONT_LEFT]));
body->AddRelativeTorque(Vector3d(0.0, 0.0, scale1 * -maxTorque * motors[MOTOR_FRONT_RIGHT]));
body->AddRelativeTorque(Vector3d(0.0, 0.0, scale2 * -maxTorque * motors[MOTOR_REAR_LEFT]));
body->AddRelativeTorque(Vector3d(0.0, 0.0, scale3 * maxTorque * motors[MOTOR_REAR_RIGHT]));
body->AddRelativeTorque(Vector3d(0.0, 0.0, scale0 * maxTorque * motors[MOT_FL]));
body->AddRelativeTorque(Vector3d(0.0, 0.0, scale1 * -maxTorque * motors[MOT_FR]));
body->AddRelativeTorque(Vector3d(0.0, 0.0, scale2 * -maxTorque * motors[MOT_RL]));
body->AddRelativeTorque(Vector3d(0.0, 0.0, scale3 * maxTorque * motors[MOT_RR]));
}
void initNode() {