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| author | James Goppert <james.goppert@gmail.com> | 2013-10-22 05:43:27 -0400 |
|---|---|---|
| committer | James Goppert <james.goppert@gmail.com> | 2013-10-22 05:43:27 -0400 |
| commit | c4a1a338ff4378c908ec34c5a5f408c1b96d0735 (patch) | |
| tree | 4f5b37f4f8d4108ca1e0be87ddee9ee19f5991b3 /src/drivers/roboclaw | |
| parent | d143e827dcd774548bca6d6b4cb6fb69ef35a826 (diff) | |
| download | px4-firmware-c4a1a338ff4378c908ec34c5a5f408c1b96d0735.tar.gz px4-firmware-c4a1a338ff4378c908ec34c5a5f408c1b96d0735.tar.bz2 px4-firmware-c4a1a338ff4378c908ec34c5a5f408c1b96d0735.zip | |
Changed driver to control motor duty cycle.
Diffstat (limited to 'src/drivers/roboclaw')
| -rw-r--r-- | src/drivers/roboclaw/RoboClaw.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/drivers/roboclaw/RoboClaw.cpp b/src/drivers/roboclaw/RoboClaw.cpp index 73bd5dada..d65a9be36 100644 --- a/src/drivers/roboclaw/RoboClaw.cpp +++ b/src/drivers/roboclaw/RoboClaw.cpp @@ -254,8 +254,8 @@ int RoboClaw::update() // if new data, send to motors if (_actuators.updated()) { _actuators.update(); - setMotorSpeed(MOTOR_1,_actuators.control[CH_VOLTAGE_LEFT]); - setMotorSpeed(MOTOR_2,_actuators.control[CH_VOLTAGE_RIGHT]); + setMotorDutyCycle(MOTOR_1,_actuators.control[CH_VOLTAGE_LEFT]); + setMotorDutyCycle(MOTOR_2,_actuators.control[CH_VOLTAGE_RIGHT]); } return 0; } |