Breaking changes: wheel speed sensor now takes in argument `wheel_dia…

…meter` instead of `wheel_radius` but was actually the circumference.

leads_arduino/wheel_speed_sensor.py

@@ -1,21 +1,22 @@
+from math import pi as _pi
 from time import time as _time
 
 from leads import Device as _Device
 
 
-def rpm2kmh(rpm: float, wheel_radius: float) -> float:
-    return rpm * wheel_radius * .0006
+def rpm2kmh(rpm: float, wheel_circumference: float) -> float:
+    return rpm * wheel_circumference * .0006
 
 
 class WheelSpeedSensor(_Device):
-    def __init__(self, wheel_radius: float) -> None:
+    def __init__(self, wheel_diameter: int | float) -> None:
         super().__init__()
-        self._wheel_radius: float = wheel_radius
+        self._wheel_circumference: float = wheel_diameter * 2.54 * _pi
         self._wheel_speed: int | float = 0
         self._last_valid: float = 0
 
     def update(self, data: int | float) -> None:
-        self._wheel_speed = rpm2kmh(data, self._wheel_radius)
+        self._wheel_speed = rpm2kmh(data, self._wheel_circumference)
         self._last_valid = _time()
 
     def read(self) -> float:

leads_vec/controller.py

@@ -12,8 +12,8 @@
 config = get_config(Config)
 BAUD_RATE: int = config.get("baud_rate", 9600)
 WHEEL_SPEED_CONTROLLER_PORT: str = config.get("wheel_speed_controller_port", "COM3")
-FRONT_WHEEL_RADIUS: float = config.get("front_wheel_radius", 159.5)  # 20 inches
-REAR_WHEEL_RADIUS: float = config.get("rear_wheel_radius", 159.5)  # 20 inches
+FRONT_WHEEL_DIAMETER: float = config.get("front_wheel_diameter", 20)  # 20 inches
+REAR_WHEEL_DIAMETER: float = config.get("rear_wheel_diameter", 20)  # 20 inches
 THROTTLE_PEDAL_PIN: int = config.get("throttle_pedal_pin", 2)
 BRAKE_PEDAL_PIN: int = config.get("brake_pedal_pin", 3)
 VOLTAGE_SENSOR_PIN: int = config.get("voltage_sensor_pin", 4)
@@ -62,9 +62,9 @@ def read(self) -> [float, float, float, _Optional[float]]:
                 RIGHT_FRONT_WHEEL_SPEED_SENSOR,
                 CENTER_REAR_WHEEL_SPEED_SENSOR
         ), WHEEL_SPEED_CONTROLLER, [
-            (FRONT_WHEEL_RADIUS,),
-            (FRONT_WHEEL_RADIUS,),
-            (REAR_WHEEL_RADIUS,)
+            (FRONT_WHEEL_DIAMETER,),
+            (FRONT_WHEEL_DIAMETER,),
+            (REAR_WHEEL_DIAMETER,)
         ]
 ) if config.srw_mode else (
         (
@@ -73,10 +73,10 @@ def read(self) -> [float, float, float, _Optional[float]]:
                 LEFT_REAR_WHEEL_SPEED_SENSOR,
                 RIGHT_REAR_WHEEL_SPEED_SENSOR
         ), WHEEL_SPEED_CONTROLLER, [
-            (FRONT_WHEEL_RADIUS,),
-            (FRONT_WHEEL_RADIUS,),
-            (REAR_WHEEL_RADIUS,),
-            (REAR_WHEEL_RADIUS,)
+            (FRONT_WHEEL_DIAMETER,),
+            (FRONT_WHEEL_DIAMETER,),
+            (REAR_WHEEL_DIAMETER,),
+            (REAR_WHEEL_DIAMETER,)
         ]
 )))
 class WheelSpeedSensors(WheelSpeedSensor):