Revision 1075
speed now takes negative values
motion.c | ||
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24 | 24 |
short speed1 = r->shared->motor1; |
25 | 25 |
short speed2 = r->shared->motor2; |
26 | 26 |
float theta = r->pose.theta; |
27 |
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27 |
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28 | 28 |
if (theta < 0 || theta > 2*M_PI) return 1; |
29 |
if (speed1 < 0 || speed1 > 255) return 1;
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30 |
if (speed2 < 0 || speed2 > 255) return 1;
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29 |
if (speed1 < -255 || speed1 > 255) return 1;
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30 |
if (speed2 < -255 || speed2 > 255) return 1;
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31 | 31 |
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32 | 32 |
/* if speed is lower than the cut off, don't move */ |
33 | 33 |
if (abs(speed1) < CUTOFF) { |
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