diff --git a/ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino b/ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino index efb1065..d34af00 100644 --- a/ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino +++ b/ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino @@ -72,9 +72,6 @@ #include "servos.h" #endif -/* Maximum PWM signal */ -#define MAX_PWM 255 - #if defined(ARDUINO) && ARDUINO >= 100 #include "Arduino.h" #else diff --git a/ros_arduino_firmware/src/libraries/ROSArduinoBridge/diff_controller.h b/ros_arduino_firmware/src/libraries/ROSArduinoBridge/diff_controller.h index f648209..678800c 100644 --- a/ros_arduino_firmware/src/libraries/ROSArduinoBridge/diff_controller.h +++ b/ros_arduino_firmware/src/libraries/ROSArduinoBridge/diff_controller.h @@ -48,6 +48,10 @@ unsigned char moving = 0; // is the base in motion? * Note that the assumption here is that PID is only turned on * when going from stop to moving, that's why we can init everything on zero. */ + +/* Maximum PWM signal */ +#define MAX_PWM 255 + void resetPID(){ leftPID.TargetTicksPerFrame = 0.0; leftPID.Encoder = readEncoder(LEFT);