X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fwt_node.cfg;h=4217be78f627ec8d2044adb4c2b2002293a47e53;hp=dbd9c1b285ef9922372e9f0ae2ab75624e8d5e6e;hb=7407e894ef07408064eb1eeff0a4c4901dcd91f4;hpb=d44edcac9dd285abbd1a6b2f9f82b6d15be00ff6

diff --git a/config/wt_node.cfg b/config/wt_node.cfg
index dbd9c1b..4217be7 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)", 30, 0, 90)
-gen.add("pitch_handicap_strength",double_t,	0, "Pitch handicap limit strength", 60, 0, 100)
+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)", 255, 0, 255)
 
 exit(gen.generate("wild_thumper", "wild_thumper", "WildThumper"))