libft_adapter: correct position of abs statements

diff --git a/src/libft_adapter.cpp b/src/libft_adapter.cpp
index bacd2d7f79f033853b8f7e7faf38594c6e901426..24fa1c474f420f7fce679338a5036d5a4c7d9ca0 100644 (file)
--- 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;