X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fmove_base.py;fp=scripts%2Fmove_base.py;h=fbd265fb9c6001c75879da1d0cb406ab7d110f9a;hp=bac2742386fd45c2c6b3e2c69bef366507835fac;hb=ece97d94709b5e779ec2a48cf47319163a122bc5;hpb=eef02300bd4b99a11e6a1756f7b8d4e25c6c0908

diff --git a/scripts/move_base.py b/scripts/move_base.py
index bac2742..fbd265f 100755
--- a/scripts/move_base.py
+++ b/scripts/move_base.py
@@ -3,7 +3,7 @@
 
 import rospy
 import struct
-from i2c import i2c
+from i2c import *
 from math import *
 from geometry_msgs.msg import Twist
 
@@ -15,6 +15,7 @@ class MoveBase:
 		rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived)
 		self.set_speed(0, 0)
 		rospy.loginfo("Init done")
+		i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
 		self.run()
 	
 	def run(self):
@@ -37,8 +38,8 @@ class MoveBase:
 		if right > 255: right=255
 		elif right < -255: right=-255
 
-		dev = i2c(0x56)
-		s = struct.pack(">Bhh", 0x1, left, right)
+		dev = i2c(0x50)
+		s = struct.pack(">Bhhhh", 0x1, right, right, left, left)
 		dev.write(s)
 		dev.close()