Forgot to convert units for set_speed

Author: ksiegall

XRPLib/differential_drive.py

@@ -56,9 +56,10 @@ def set_speed(self, left_speed: float, right_speed: float) -> None:
         : param rightSpeed: The speed (In Centimeters per Second) to set the right motor to.
         : type rightSpeed: float
         """
-
-        self.left_motor.set_speed(left_speed)
-        self.right_motor.set_speed(right_speed)
+        # Convert from cm/s to RPM
+        cmpsToRPM = 60 / (math.pi * self.wheel_diam)
+        self.left_motor.set_speed(left_speed*cmpsToRPM)
+        self.right_motor.set_speed(right_speed*cmpsToRPM)
 
     def stop(self) -> None:
         """

XRPLib/encoded_motor.py

@@ -133,7 +133,7 @@ def set_speed(self, speed_rpm: float | None = None):
         # Convert from rev per min to ticks per 20ms (60 sec/min, 50 Hz)
         self.target_speed = speed_rpm*self._encoder.ticks_per_rev/(60*50)
 
-    def set_speed_controller(self, new_controller):
+    def set_speed_controller(self, new_controller: Controller):
         """
         Sets a new controller for speed control
 

XRPLib/imu.py

@@ -4,7 +4,7 @@
 # Author: shaoziyang (shaoziyang@micropython.org.cn)
 # v1.0 2019.7
 
-from machine import I2C,Pin, Timer, disable_irq, enable_irq
+from machine import I2C, Pin, Timer, disable_irq, enable_irq
 import time, math
 
 LSM6DSO_CTRL1_XL = const(0x10)

docs/conf.py

@@ -28,7 +28,18 @@
 # Uncomment the below if you use native CircuitPython modules such as
 # digitalio, micropython and busio. List the modules you use. Without it, the
 # autodoc module docs will fail to generate with a warning.
-# autodoc_mock_imports = ["digitalio", "busio"]
+autodoc_mock_imports = [
+    'micropython',
+    'ustruct',
+    'machine',
+    'board',
+    'network',
+    'esp',
+    'uos',
+    'btree',
+    'rp2',
+    'phew',
+]
 
 autodoc_preserve_defaults = True