hidaka sato / Mbed 2 deprecated WRS2020_mecanum_node

WRS2020用にメカナム台車をROS化

Dependencies:   mbed PID2 JY901 QuaternionMath ros_lib_melodic i2cmaster WRS2020_mecanum_node

Dependents:   WRS2020_mecanum_node

Diff: main.cpp

Revision:
4:40167450cdf0
Parent:
3:cf06189a7511
--- a/main.cpp	Wed Nov 11 07:34:11 2020 +0000
+++ b/main.cpp	Thu Nov 12 07:36:18 2020 +0000
@@ -1,4 +1,4 @@
-#include "mbed.h"
+ #include "mbed.h"
 #include <string> 
 #include "JY901.h"
 #include "PID.h"
@@ -42,7 +42,7 @@
 void goal_callback(const geometry_msgs::PoseStamped& goal){
     //robot_pose_controll(cmd_pose2d.x, cmd_pose2d.y, cmd_pose2d.theta);
     Quaternion tmp_q(goal.pose.orientation.w, goal.pose.orientation.x, goal.pose.orientation.y, goal.pose.orientation.z);
-    moveStart(goal.pose.position.x, goal.pose.position.y, tmp_q.getEulerAngles().z, &is_stop);
+    moveStart(goal.pose.position.x, goal.pose.position.y, tmp_q.getEulerAngles().x, &is_stop);
 }
 
 void move_stop_service(const std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res) {