modelec/modelec-marcel-ROS
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joy value

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This commit is contained in:
acki
2025-12-17 18:25:17 +01:00
parent 3b68c244ad
commit 79264662c0
1 changed files with 5 additions and 5 deletions
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10
src/modelec_com/src/pcb_odo_interface.cpp
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@@ -74,16 +74,16 @@ namespace Modelec
[this](const sensor_msgs::msg::Joy::SharedPtr msg)
{
double left_axis = msg->axes[1];
double right_axis = msg->axes[3];
double right_axis = msg->axes[2];
if (fabs(left_axis) < 0.05) left_axis = 0.0;
if (fabs(right_axis) < 0.05) right_axis = 0.0;
// int left = static_cast<int>(forward * 626 - turn * 626);
// int right = static_cast<int>(forward * 626 + turn * 626);
int left_motor = static_cast<int>(forward * 626 - turn * 626);
int right_motor = static_cast<int>(forward * 626 + turn * 626);
int left_motor = static_cast<int>(left_axis * 626);
int right_motor = static_cast<int>(right_axis * 626);
// int left_motor = static_cast<int>(left_axis * 626);
// int right_motor = static_cast<int>(right_axis * 626);
left_motor = std::max(-626, std::min(626, left_motor));
right_motor = std::max(-626, std::min(626, right_motor));