X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_roboint.git;a=blobdiff_plain;f=src%2Flibft_adapter.cpp;fp=src%2Flibft_adapter.cpp;h=24fa1c474f420f7fce679338a5036d5a4c7d9ca0;hp=bacd2d7f79f033853b8f7e7faf38594c6e901426;hb=546244d48efb7bcc4b869ba78a25232619f53a76;hpb=56367319c3c3c387c41a0dbf14f75a6777aeb565

diff --git a/src/libft_adapter.cpp b/src/libft_adapter.cpp
index bacd2d7..24fa1c4 100644
--- a/src/libft_adapter.cpp
+++ b/src/libft_adapter.cpp
@@ -14,7 +14,7 @@ static pthread_mutex_t pwm_mutex = PTHREAD_MUTEX_INITIALIZER;
 
 void cb_set_output(const ::roboint::OutputConstPtr& msg) {
 	pthread_mutex_lock(&pwm_mutex);
-	pwm_next[msg->num] = msg->speed;
+	pwm_next[msg->num] = abs(msg->speed);
 	pthread_mutex_unlock(&pwm_mutex);
 }
 
@@ -22,11 +22,11 @@ void cb_set_output(const ::roboint::OutputConstPtr& msg) {
 void cb_set_motor(const ::roboint::MotorConstPtr& msg) {
 	pthread_mutex_lock(&pwm_mutex);
 	if (msg->speed > 0) {
-		pwm_next[msg->num*2] = msg->speed;
+		pwm_next[msg->num*2] = abs(msg->speed);
 		pwm_next[msg->num*2+1] = 0;
 	} else {
 		pwm_next[msg->num*2] = 0;
-		pwm_next[msg->num*2+1] = msg->speed;
+		pwm_next[msg->num*2+1] = abs(msg->speed);
 	}
 	pthread_mutex_unlock(&pwm_mutex);
 }
@@ -105,7 +105,7 @@ int main(int argc, char **argv)
 			msg.input[i] = (transfer_area->E_Main & (1<<i)) >> i;
 		}
 		for (int i=0; i<=7; i++) {
-			msg.output[i] = abs(pwm[i]);
+			msg.output[i] = pwm[i];
 			pwm[i] = pwm_next[i];
 
 			if (pwm[i] == 0) {
@@ -113,7 +113,7 @@ int main(int argc, char **argv)
 			} else {
 				transfer_area->M_Main |= (1<<(i));
 			}
-			transfer_area->MPWM_Main[i] = abs(pwm[i]);
+			transfer_area->MPWM_Main[i] = pwm[i];
 		}
 		msg.ax = transfer_area->AX;
 		msg.ay = transfer_area->AY;