From e1b72e5d45a8901cd82893a732a795d6f4231843 Mon Sep 17 00:00:00 2001
From: erik <erik@ROS.(none)>
Date: Thu, 22 Aug 2013 19:51:07 +0200
Subject: [PATCH] cmd_vel: fix zero crossing

---
 scripts/robo_explorer.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

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
-- 
2.39.5