From: Erik Andresen <erik@vontaene.de>
Date: Sun, 5 Apr 2015 06:06:42 +0000 (+0200)
Subject: tuning
X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=34bae39fabd9b44e1d169087e8d18d542f4f1525;p=ros_wild_thumper.git

tuning
---

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..0d20b64
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+*.pyc
diff --git a/launch/teleop.launch b/launch/teleop.launch
index 60f4adf..0de7703 100644
--- a/launch/teleop.launch
+++ b/launch/teleop.launch
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <launch>
 	<node pkg="turtlebot_teleop" type="turtlebot_teleop_joy" name="turtlebot_teleop_joystick">
-		<param name="scale_linear" value="35"/>
-		<param name="scale_angular" value="25"/>
-		<param name="axis_deadman" value="10"/>
+		<param name="scale_linear" value="25"/>
+		<param name="scale_angular" value="20"/>
+		<param name="axis_deadman" value="3"/>
 		<param name="axis_linear" value="1"/>
 		<param name="axis_angular" value="0"/>
 		<remap from="turtlebot_teleop_joystick/cmd_vel" to="/cmd_vel"/>
diff --git a/scripts/move_base.py b/scripts/move_base.py
index 1188e2c..6886ec0 100755
--- a/scripts/move_base.py
+++ b/scripts/move_base.py
@@ -23,6 +23,11 @@ class MoveBase:
 			rate.sleep()
 
 	def set_speed(self, left, right):
+		if left > 0: left+=80
+		elif left < 0: left-=80
+		if right > 0: right+=80
+		elif right < 0: right-=80
+
 		if left > 255: left=255
 		elif left < -255: left=-255
 		if right > 255: right=255