From 5e2400dfde1d2c91a06617d868cbbf1900d086d3 Mon Sep 17 00:00:00 2001 From: Corwin Perren Date: Mon, 26 Feb 2018 23:14:09 -0800 Subject: [PATCH] Fixed too large value for UINT16 --- .../rover/rover_control/src/drive_control/drive_control.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/software/rover/rover_control/src/drive_control/drive_control.py b/software/rover/rover_control/src/drive_control/drive_control.py index e90b2b0..9b1113d 100755 --- a/software/rover/rover_control/src/drive_control/drive_control.py +++ b/software/rover/rover_control/src/drive_control/drive_control.py @@ -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)