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Changed readEncoder() arguments from 0, 1 to LEFT, RIGHT in diff_controller.h

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This commit is contained in:
Patrick Goebel 2015-01-30 06:17:47 -08:00
parent aedb405413
commit 415dde63ee
1 changed files with 4 additions and 4 deletions
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8
ros_arduino_firmware/src/libraries/ROSArduinoBridge/diff_controller.h
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@ -50,14 +50,14 @@ unsigned char moving = 0; // is the base in motion?
*/ */
void resetPID(){ void resetPID(){
leftPID.TargetTicksPerFrame = 0.0; leftPID.TargetTicksPerFrame = 0.0;
leftPID.Encoder = readEncoder(0); leftPID.Encoder = readEncoder(LEFT);
leftPID.PrevEnc = leftPID.Encoder; leftPID.PrevEnc = leftPID.Encoder;
leftPID.output = 0; leftPID.output = 0;
leftPID.PrevInput = 0; leftPID.PrevInput = 0;
leftPID.ITerm = 0; leftPID.ITerm = 0;
rightPID.TargetTicksPerFrame = 0.0; rightPID.TargetTicksPerFrame = 0.0;
rightPID.Encoder = readEncoder(1); rightPID.Encoder = readEncoder(RIGHT);
rightPID.PrevEnc = rightPID.Encoder; rightPID.PrevEnc = rightPID.Encoder;
rightPID.output = 0; rightPID.output = 0;
rightPID.PrevInput = 0; rightPID.PrevInput = 0;
@ -105,8 +105,8 @@ void doPID(SetPointInfo * p) {
/* Read the encoder values and call the PID routine */ /* Read the encoder values and call the PID routine */
void updatePID() { void updatePID() {
/* Read the encoders */ /* Read the encoders */
leftPID.Encoder = readEncoder(0); leftPID.Encoder = readEncoder(LEFT);
rightPID.Encoder = readEncoder(1); rightPID.Encoder = readEncoder(RIGHT);
/* If we're not moving there is nothing more to do */ /* If we're not moving there is nothing more to do */
if (!moving){ if (!moving){