avr/motor_ctrl: handicap fixes

[ros_wild_thumper.git] / avr / motor_ctrl / main.c

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 1fd829253bd09f76c7e45800fa41cdedfe0255b2..bd9fc9e31d634c73f3e622b3508db4d850e4ae3d 100644 (file)
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -346,10 +346,12 @@ ISR(TWI_vect)
                                        break;
                                case 0x94: // Front Handicap backward
                                        front_handicap_bwd = TWDR;
+                                       cmd_vel.bUpdate = 1;
                                        TWI_ACK;
                                        break;
                                case 0x95: // Aft Handicap forward
                                        aft_handicap_fwd = TWDR;
+                                       cmd_vel.bUpdate = 1;
                                        TWI_ACK;
                                        break;
                                case 0xff: // bootloader
@@ -963,22 +965,22 @@ int main(void) {
                        speed_wish_left*=STEP_PER_M;
                        speed_wish_right*=STEP_PER_M;
 
-                       if (speed1_wish > 0 && aft_handicap_fwd > 0) {
+                       if (speed_wish_left > 0 && aft_handicap_fwd > 0) {
                                speed1_wish = speed_wish_left * (100-aft_handicap_fwd)/100.0;
                        } else {
                                speed1_wish = speed_wish_left;
                        }
-                       if (speed2_wish > 0 && front_handicap_bwd > 0) {
+                       if (speed_wish_left < 0 && front_handicap_bwd > 0) {
                                speed2_wish = speed_wish_left * (100-front_handicap_bwd)/100.0;
                        } else {
                                speed2_wish = speed_wish_left;
                        }
-                       if (speed3_wish > 0 && front_handicap_bwd > 0) {
+                       if (speed_wish_right < 0 && front_handicap_bwd > 0) {
                                speed3_wish = speed_wish_right * (100-front_handicap_bwd)/100.0;
                        } else {
                                speed3_wish = speed_wish_right;
                        }
-                       if (speed4_wish > 0 && aft_handicap_fwd > 0) {
+                       if (speed_wish_right > 0 && aft_handicap_fwd > 0) {
                                speed4_wish = speed_wish_right * (100-aft_handicap_fwd)/100.0;
                        } else {
                                speed4_wish = speed_wish_right;