From: erik <erik@ROS.(none)>
Date: Thu, 22 Aug 2013 17:51:07 +0000 (+0200)
Subject: cmd_vel: fix zero crossing
X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=e1b72e5d45a8901cd82893a732a795d6f4231843;p=ros_roboint.git

cmd_vel: fix zero crossing
---

diff --git a/scripts/robo_explorer.py b/scripts/robo_explorer.py
index af40fff..aa98352 100755
--- a/scripts/robo_explorer.py
+++ b/scripts/robo_explorer.py
@@ -116,13 +116,13 @@ class RoboExplorer:
 		# handle translation
 		speed_l = 0
 		wish_speed_left = trans - speed_offset
-		if abs(wish_speed_left) > 0:
+		if abs(wish_speed_left) > 1.7/64.3:
 			speed_l = 64.3*abs(wish_speed_left) - 1.7
 			if wish_speed_left < 0:
 				speed_l*=-1
 		speed_r = 0
 		wish_speed_right = trans + speed_offset
-		if abs(wish_speed_right) > 0:
+		if abs(wish_speed_right) > 1.7/64.3:
 			speed_r = 64.3*abs(wish_speed_right) - 1.7
 			if wish_speed_right < 0:
 				speed_r*=-1