From 415dde63eecb2b89f20a1c2adec9bf0e5e92dc51 Mon Sep 17 00:00:00 2001 From: Patrick Goebel Date: Fri, 30 Jan 2015 06:17:47 -0800 Subject: [PATCH] Changed readEncoder() arguments from 0, 1 to LEFT, RIGHT in diff_controller.h --- .../src/libraries/ROSArduinoBridge/diff_controller.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/ros_arduino_firmware/src/libraries/ROSArduinoBridge/diff_controller.h b/ros_arduino_firmware/src/libraries/ROSArduinoBridge/diff_controller.h index 6bb1002..f648209 100644 --- a/ros_arduino_firmware/src/libraries/ROSArduinoBridge/diff_controller.h +++ b/ros_arduino_firmware/src/libraries/ROSArduinoBridge/diff_controller.h @@ -50,14 +50,14 @@ unsigned char moving = 0; // is the base in motion? */ void resetPID(){ leftPID.TargetTicksPerFrame = 0.0; - leftPID.Encoder = readEncoder(0); + leftPID.Encoder = readEncoder(LEFT); leftPID.PrevEnc = leftPID.Encoder; leftPID.output = 0; leftPID.PrevInput = 0; leftPID.ITerm = 0; rightPID.TargetTicksPerFrame = 0.0; - rightPID.Encoder = readEncoder(1); + rightPID.Encoder = readEncoder(RIGHT); rightPID.PrevEnc = rightPID.Encoder; rightPID.output = 0; rightPID.PrevInput = 0; @@ -105,8 +105,8 @@ void doPID(SetPointInfo * p) { /* Read the encoder values and call the PID routine */ void updatePID() { /* Read the encoders */ - leftPID.Encoder = readEncoder(0); - rightPID.Encoder = readEncoder(1); + leftPID.Encoder = readEncoder(LEFT); + rightPID.Encoder = readEncoder(RIGHT); /* If we're not moving there is nothing more to do */ if (!moving){