fixed backward driving issue; experimental suport for raspberry pi ca…

…mera
jcicolani · Feb 8, 2016 · 6de8614 · 6de8614
1 parent 135b68d
commit 6de8614
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Showing 5 changed files with 4 additions and 4 deletions.
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -1 +1 @@
-/opt/ros/indigo/share/catkin/cmake/toplevel.cmake
+/opt/ros/jade/share/catkin/cmake/toplevel.cmake
diff --git a/src/nomad/nomad.launch b/src/nomad/nomad.launch
@@ -1,5 +1,4 @@
 <launch>
-	<node name="joy" pkg="joy" type="joy_node"/>
 	<node name="nomad_control" pkg="nomad" type="nomad_control.py"/>
 	<node name="nomad_drive" pkg="nomad" type="nomad_drive.py" output="screen"/>
 </launch>
diff --git a/src/nomad/nomad_drive.py b/src/nomad/nomad_drive.py
@@ -21,12 +21,12 @@ def drive_wheels(msg):
 	if m1 > 0:
 		roboclaw.ForwardM1(0x80, m1)
 	else: 
-		roboclaw.BackwardM1(0x80, m1)
+		roboclaw.BackwardM1(0x80, abs(m1))
 
 	if m2 > 0:
 		roboclaw.ForwardM2(0x80, m2)
 	else: 
-		roboclaw.BackwardM2(0x80, m2)
+		roboclaw.BackwardM2(0x80, abs(m2))
 
 
 def get_diag_info(input_string):

diff --git a/src/nomad/roboclaw.pyc b/src/nomad/roboclaw.pyc
diff --git a/src/rosberrypi_cam b/src/rosberrypi_cam
Original file line number	Diff line number	Diff line change
		@@ -1 +1 @@
		/opt/ros/indigo/share/catkin/cmake/toplevel.cmake
		/opt/ros/jade/share/catkin/cmake/toplevel.cmake