Diff: serial_connected_mcu.cpp

Revision:

9:21f623d2ee34

Parent:

8:b916e6f45f75

Child:

10:819597ff4492

--- a/serial_connected_mcu.cpp	Sun Jul 10 07:49:00 2016 +0000
+++ b/serial_connected_mcu.cpp	Sun Jul 10 22:41:25 2016 +0000
@@ -71,16 +71,16 @@
 }
 
 void serial_connected_mcu::update() {
-    _slave.set(ENCODER1, _encoders[0]->get_revol_num());
-    _slave.set(ENCODER2, _encoders[1]->get_revol_num());
-    _slave.set(ENCODER3, _encoders[2]->get_revol_num());
-    _slave.set(POTENTIONMETER1, _analog_inputs[0]->read());
-    _slave.set(POTENTIONMETER2, _analog_inputs[1]->read());
-    _slave.set(POTENTIONMETER3, _analog_inputs[2]->read());
+    _slave.set(ENCODER1, _encoders[0]->get_revol_num() * 32767.0f);
+    _slave.set(ENCODER2, _encoders[1]->get_revol_num() * 32767.0f);
+    _slave.set(ENCODER3, _encoders[2]->get_revol_num() * 32767.0f);
+    _slave.set(POTENTIONMETER1, (_analog_inputs[0]->read() - 0.5f) * 2.0f * 32767.0f);
+    _slave.set(POTENTIONMETER2, (_analog_inputs[1]->read() - 0.5f) * 2.0f * 32767.0f);
+    _slave.set(POTENTIONMETER3, (_analog_inputs[2]->read() - 0.5f) * 2.0f * 32767.0f);
     
-    _servos[0]->set_position(_slave.get(ESC1));
-    _servos[1]->set_position(_slave.get(ESC2));
-    _servos[2]->set_position(_slave.get(ESC3));
+    _servos[0]->set_position(_slave.get(ESC1) / 32767.0f);
+    _servos[1]->set_position(_slave.get(ESC2) / 32767.0f);
+    _servos[2]->set_position(_slave.get(ESC3) / 32767.0f);
 }
 
 } /* namespace serial_connected_mcu */