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Moved MAX_PWM into diff_controller.h

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This commit is contained in:
Patrick Goebel 2015-12-07 06:52:56 -08:00
parent eacd926753
commit 5a4affcfba
2 changed files with 4 additions and 3 deletions
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3
ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino
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@ -72,9 +72,6 @@
#include "servos.h" #include "servos.h"
#endif #endif
/* Maximum PWM signal */
#define MAX_PWM 255
#if defined(ARDUINO) && ARDUINO >= 100 #if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h" #include "Arduino.h"
#else #else

4
ros_arduino_firmware/src/libraries/ROSArduinoBridge/diff_controller.h
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@ -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 * 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. * when going from stop to moving, that's why we can init everything on zero.
*/ */
/* Maximum PWM signal */
#define MAX_PWM 255
void resetPID(){ void resetPID(){
leftPID.TargetTicksPerFrame = 0.0; leftPID.TargetTicksPerFrame = 0.0;
leftPID.Encoder = readEncoder(LEFT); leftPID.Encoder = readEncoder(LEFT);