From 6de861424518e29351893e4d3e2aa94f3a43b8a1 Mon Sep 17 00:00:00 2001 From: bill tyler Date: Mon, 8 Feb 2016 17:59:08 +0000 Subject: [PATCH] fixed backward driving issue; experimental suport for raspberry pi camera --- src/CMakeLists.txt | 2 +- src/nomad/nomad.launch | 1 - src/nomad/nomad_drive.py | 4 ++-- src/nomad/roboclaw.pyc | Bin 39661 -> 37834 bytes src/rosberrypi_cam | 1 + 5 files changed, 4 insertions(+), 4 deletions(-) create mode 160000 src/rosberrypi_cam diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index 3703df4..b38ee38 120000 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -1 +1 @@ -/opt/ros/indigo/share/catkin/cmake/toplevel.cmake \ No newline at end of file +/opt/ros/jade/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/src/nomad/nomad.launch b/src/nomad/nomad.launch index ad566bf..44d688a 100644 --- a/src/nomad/nomad.launch +++ b/src/nomad/nomad.launch @@ -1,5 +1,4 @@ - diff --git a/src/nomad/nomad_drive.py b/src/nomad/nomad_drive.py index de69cdc..0e127cf 100755 --- 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 index 200db3c075194163a11a549ca62268e56767b0c5..3fc90e3fbcc882483ba18ce87a52c7a1f10d0e9f 100644 GIT binary patch delta 5512 zcma*rTTqN)7zgm$MI(oD`1V_ErFE()EDa*12_>6DTPjrSs*SWO9d=Sgp;FtbJY^;g zGmO)e3+8p~&M-{O&2u-s|LoOw@!S9NzR&x9@4UNxS5)`TsXWyE zV?2k|p1tIe;}sC(=H_PDmS?vb99tYaiX4VDd3H;dp|Bv+utRwg$Gv2CsHoTb9Y){B zy@5!Kn4n_Rn?La_jG~LOhSH@wEGVoRe@5Mla+_pR5A{s>sNDWP4x?PH0T;TfJ&#ej zuS{anMhv|pWHR}bV5lUH)iDz<=+1Ex9T*LbPb~6F!)+Be{cTv$O@EEp8IZ!1Bd3&M zDa6!YSW)-%hj_ZrX57c9E3lh`WcnQR1VdApOrF8-F$@TKfl*hWOi?rMVrW<(lX2El z9<x)YQu93m92bc&MOR+#Ll_DG3*az^iOF`z&vJaLguqtGl0it3j2bQ(vqr$ zpD;9qX{lq;Hw=};ui?0~@Q(0fygl9#K2#L>lT}xUC5-c5ypEd9Dy$XB(ON9Uv86E# zHF|j}Lp8*#VyKZT99U69jFxW2;gz7?l`h=hR^xt*jPVCB`VrrV(e+gf)M}hW^{aDm znlavoqSi2A-C8|;=fPTBc3DCtMgs{|7@ap&W0aoANb*WzEOuwoK3vZ1)R1#s77vCd zGoUR+M=z5tIMJ4}2O=S*hNz$-`-ZC+C2XwVAT4Rq7^Ckh(NITPK2BVp-hh#maRj5s z8H}rg-ld`bO#-LsT@t<9Y{Rg^T*g7Zw8Fx;iuPF;yRv1A6PGk)GS+i2vm7T4X3BIc zi?Nm#YZFfE&i17x*^IRA?2|aHZR;6~qH`uw>o!LBqjNfNTF~}W7WpE@vFbrz`pyN&A~Isye{9*F+w?0F#8KvXRjPOPxgTt4_c;x?Iip zO?&MSn@2cS-i9WhwJ^%g1R2q`8TutGJ zgYowo4>KkmR?oO)eyA^Hlxtw@wYWyc*)jYG<4sbw+9+b&_7tdYVoac|X*Zr_Vsjrv P!gh4L8msn}rS5+LSPEZb delta 7342 zcmbW+|4-Fb9LMns&TiA0h4=EgT!=dYOCY%--fC#81Qif6aDj5=evykHUAYJt0)Dwy zh;K?MZ*5wGR;%?zmun|#>ZbglV}6@o$6QfC*;Z>B20yqZto!Ldc=E&D?k^8s@AE#N zbI#{nE`1((Zy?e*YhvDh3CYjVL|79tN#BTT4C^DS{^BH5de*-$ z(F(_{no7)kjBY7mCZ6TfyhL?m1wG=`_b;c-pgtA%N(^Ov*_!gdO4HQo*GgcLO3%ut zq%V61B$A$Gk-XLPnQ*S@ffIW&FGdn_wnA07)+*<*D#$$qbEdI4nYRyS6s~QBqCY=D z%=xru{rTN6C#T>YDDD-sLm{tsK#{qQW{j?*Pi4;=dtp`6ZPBu_&^H4$f|aLe7tHY# z#frAx%al60J~fgN@f4Zm;hP^rb*eZ7MQKSB6cZ)%LHl6CL70)Zu@{O*8{v&o#++uE z=lmAtj5%qCZDn!NzX?7vVkN; z@y1EpX1a|hmwyH;yI+133!7Zl@b2|20ECY diff --git a/src/rosberrypi_cam b/src/rosberrypi_cam new file mode 160000 index 0000000..4814a6b --- /dev/null +++ b/src/rosberrypi_cam @@ -0,0 +1 @@ +Subproject commit 4814a6b547e9df8f1bbeafa658e977750c73fe52