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Added missing resetEncoders() function to encoder_driver.ino

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This commit is contained in:
Patrick Goebel 2016-04-18 06:29:00 -07:00
parent 97946646d2
commit d03061ae60
2 changed files with 10 additions and 2 deletions
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6
ros_arduino_firmware/src/libraries/ROSArduinoBridge/encoder_driver.ino
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@ -32,6 +32,12 @@
if (i == LEFT) return encoders.YAxisReset(); if (i == LEFT) return encoders.YAxisReset();
else return encoders.XAxisReset(); else return encoders.XAxisReset();
} }
/* Wrap the encoder reset function */
void resetEncoders() {
resetEncoder(LEFT);
resetEncoder(RIGHT);
}
#elif defined(ROBOGAIA_3_AXIS) #elif defined(ROBOGAIA_3_AXIS)
/* Robogaia 3-axis encoder shield */ /* Robogaia 3-axis encoder shield */

6
ros_arduino_python/src/ros_arduino_python/arduino_driver.py
View File

@ -100,10 +100,10 @@ class Arduino:
attempts = 1 attempts = 1
self.serial_port.write(cmd + '\r') self.serial_port.write(cmd + '\r')
value = self.serial_port.readline().strip('\n') value = self.serial_port.readline().strip('\n')
while len(value) == 0 and attempts < max_attempts: while len(value) == 0 and attempts < max_attempts:
print "Command", cmd, "failed", attempts, "time(s)"
self.serial_port.write(cmd + '\r') self.serial_port.write(cmd + '\r')
value = self.serial_port.readline().strip('\n') value = self.serial_port.readline().strip('\n')
attempts += 1 attempts += 1
@ -141,6 +141,8 @@ class Arduino:
return None return None
def get_encoder_counts(self): def get_encoder_counts(self):
''' Read the current encoder counts
'''
values = self.execute_array('e') values = self.execute_array('e')
if len(values) != 2: if len(values) != 2: