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Fixed bug in base_controller.py that reversed left/right for encoder counts and motor speeds

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This commit is contained in:
Patrick Goebel 2012-12-29 09:09:57 -08:00
parent b9913e6d6a
commit 8d89f851fc
5 changed files with 3 additions and 6 deletions
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ros_arduino_msgs/src/ros_arduino_msgs/__init__.pyc
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ros_arduino_python/src/arduino_driver.pyc
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ros_arduino_python/src/arduino_sensors.pyc
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ros_arduino_python/src/base_controller.py
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@ -118,7 +118,7 @@ class BaseController:
if now > self.t_next: if now > self.t_next:
# Read the encoders # Read the encoders
try: try:
right_enc, left_enc = self.arduino.get_encoder_counts() left_enc, right_enc = self.arduino.get_encoder_counts()
except: except:
self.bad_encoder_count += 1 self.bad_encoder_count += 1
rospy.logerr("Encoder exception count: " + str(self.bad_encoder_count)) rospy.logerr("Encoder exception count: " + str(self.bad_encoder_count))
@ -180,7 +180,6 @@ class BaseController:
odom.twist.twist.linear.y = 0 odom.twist.twist.linear.y = 0
odom.twist.twist.angular.z = vth odom.twist.twist.angular.z = vth
self.odomPub.publish(odom) self.odomPub.publish(odom)
if now > (self.last_cmd_vel + rospy.Duration(self.timeout)): if now > (self.last_cmd_vel + rospy.Duration(self.timeout)):
@ -189,10 +188,8 @@ class BaseController:
# Set motor speeds in encoder ticks per PID loop # Set motor speeds in encoder ticks per PID loop
if not self.stopped: if not self.stopped:
if self.motors_reversed: self.arduino.drive(self.v_left, self.v_right)
self.arduino.drive(self.v_left, self.v_right)
else:
self.arduino.drive(self.v_right, self.v_left)
def stop(self): def stop(self):
self.stopped = True self.stopped = True

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ros_arduino_python/src/base_controller.pyc
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