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Fixed too large value for UINT16

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Corwin Perren
2018-02-26 23:14:09 -08:00
parent 2f19732b37
commit 5e2400dfde
1 changed files with 3 additions and 2 deletions
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5
software/rover/rover_control/src/drive_control/drive_control.py
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@@ -50,6 +50,7 @@ MOTOR_DRIVER_DEFAULT_MESSAGE = [
1 # Not in sleep mode 1 # Not in sleep mode
] ]
UINT16_MAX = 65535
##################################### #####################################
# DriveControl Class Definition # DriveControl Class Definition
@@ -96,12 +97,12 @@ class DriveControl(object):
first_direction = \ first_direction = \
not drive_control.first_motor_direction if self.first_motor_inverted else drive_control.first_motor_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["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_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_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["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.first_motor.write_registers(0, first_motor_register_data)
self.second_motor.write_registers(0, second_motor_register_data) self.second_motor.write_registers(0, second_motor_register_data)