Hardware interface for seadragon motors
Dependencies: mbed Servo ros_lib_kinetic
Diff: main.cpp
- Revision:
- 2:48a9c25e5d26
- Parent:
- 1:c7cfd52db721
--- a/main.cpp Wed Aug 01 08:12:41 2018 +0000 +++ b/main.cpp Fri Jun 28 19:58:04 2019 +0000 @@ -75,17 +75,20 @@ // Forward thrust callback returns valules [0:150] void thrust_motor_callback( const std_msgs::Int16& msg) { + // Updates pwm values for forward thrust motors if (msg.data == 0) { + // Stop motors lthrustpwm = rthrustpwm = PWMBASELINE; } else if (msg.data < 0) { + // Go reverse lthrustpwm = PWMBASELINE - 25 + msg.data; rthrustpwm = PWMBASELINE - 25 + msg.data; } else{ - // Update yaw motor pwm + // Go forward lthrustpwm = PWMBASELINE + 25 + msg.data; rthrustpwm = PWMBASELINE + 25 + msg.data; }