X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fwt_node.cfg;fp=config%2Fwt_node.cfg;h=768363a9d3e82d2bff712e4db1036ab8182514b6;hp=27f3365477d286699151f7ac0a47182a87efec74;hb=163e9fecf7bd83c737bd68b717ae47d174e93e12;hpb=15ada84238a9182aecb2c6a715c2b9db77b2f3fc

diff --git a/config/wt_node.cfg b/config/wt_node.cfg
index 27f3365..768363a 100755
--- a/config/wt_node.cfg
+++ b/config/wt_node.cfg
@@ -8,8 +8,8 @@ gen.add("range_sensor_clip",	bool_t,		0, "Clip range sensor values to max range"
 gen.add("range_sensor_max",	double_t,	0, "Range sensor max range", 0.5, 0.4, 4)
 gen.add("odom_covar_xy",	double_t,	0, "Odometry covariance: translation", 1e-2, 1e-6, 1)
 gen.add("odom_covar_angle",	double_t,	0, "Odometry covariance: rotation", 0.25, 1e-6, 6.2832)
-gen.add("pitch_handicap_enable",bool_t,		0, "Enable motor handicap on pitch", True)
-gen.add("pitch_handicap_limit",	double_t,	0, "Pitch handicap limit (degree)", 40, 0, 90)
-gen.add("pitch_handicap_strength",double_t,	0, "Pitch handicap limit strength", 99, 0, 99)
+gen.add("rollover_protect",	bool_t,		0, "Enable motor rollover protection on pitch", True)
+gen.add("rollover_protect_limit",double_t,	0, "Pitch rollover protection limit (degree)", 45, 0, 90)
+gen.add("rollover_protect_pwm",	double_t,	0, "Pitch rollover protection speed (pwm)", 100, 0, 255)
 
 exit(gen.generate("wild_thumper", "wild_thumper", "WildThumper"))