caperren/osurc_mars_rover_2017_2018
1
0
Fork 0
mirror of https://github.com/OSURoboticsClub/Rover_2017_2018.git synced 2025-11-08 10:11:14 +00:00
Code Issues Packages Projects Releases Wiki Activity

Fixed too large value for UINT16

Browse Source
This commit is contained in:
Corwin Perren
2018-02-26 23:14:09 -08:00
parent 2f19732b37
commit 5e2400dfde
1 changed files with 3 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
software/rover/rover_control/src/drive_control/drive_control.py
View File

@@ -50,6 +50,7 @@ MOTOR_DRIVER_DEFAULT_MESSAGE = [
1 # Not in sleep mode
]
UINT16_MAX = 65535
#####################################
# DriveControl Class Definition
@@ -96,12 +97,12 @@ class DriveControl(object):
first_direction = \
not drive_control.first_motor_direction if self.first_motor_inverted else drive_control.first_motor_direction
first_motor_register_data[MODBUS_REGISTERS["DIRECTION"]] = first_direction
first_motor_register_data[MODBUS_REGISTERS["SPEED"]] = drive_control.first_motor_speed
first_motor_register_data[MODBUS_REGISTERS["SPEED"]] = min(drive_control.first_motor_speed, UINT16_MAX)
second_motor_register_data = list(MOTOR_DRIVER_DEFAULT_MESSAGE)
second_direction = not drive_control.second_motor_direction if self.second_motor_inverted else drive_control.second_motor_direction
second_motor_register_data[MODBUS_REGISTERS["DIRECTION"]] = second_direction
second_motor_register_data[MODBUS_REGISTERS["SPEED"]] = drive_control.second_motor_speed
second_motor_register_data[MODBUS_REGISTERS["SPEED"]] = min(drive_control.second_motor_speed, UINT16_MAX)
self.first_motor.write_registers(0, first_motor_register_data)
self.second_motor.write_registers(0, second_motor_register_data)