X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=avr%2Fmotor_ctrl%2Fmain.c;h=bd9fc9e31d634c73f3e622b3508db4d850e4ae3d;hp=1fd829253bd09f76c7e45800fa41cdedfe0255b2;hb=bd5ce223f2fe077a697352c44a366a33d1f692f0;hpb=2dbdb0777dda392369a9782812556f712ac1c1e2

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 1fd8292..bd9fc9e 100644
--- 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;