Magnezijum-Robotics/magrob
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Updated firmware for new pcb

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Pimpest
2025-04-11 15:41:02 +02:00
parent a4691caeed
commit f064bcfc69
4 changed files with 34 additions and 16 deletions
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4
mg_control/src/mg_control.cpp
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@ -73,9 +73,9 @@ hardware_interface::return_type mg::MgStepperInterface::write(const rclcpp::Time
try {
odrive_serial_interface.Write("s;");
value.data = left_wheel_vel_cmd / (2 * M_PI);
value.data = -left_wheel_vel_cmd / (2 * M_PI);
for (const auto& bt : value.bytes) { odrive_serial_interface.WriteByte(bt); }
value.data = -right_wheel_vel_cmd / (2 * M_PI);
value.data = right_wheel_vel_cmd / (2 * M_PI);
for (const auto& bt : value.bytes) { odrive_serial_interface.WriteByte(bt); }
} catch (const std::runtime_error& e) { return hardware_interface::return_type::ERROR; }