X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=6006f9562bef641e510005c84676553ac6c52801;hp=e234058dc66af5fcd6065110f86ebeabe3fe38ff;hb=4b090b45eb6d10571944874b8b23921f96a9db54;hpb=c25e62e7fc33b0c130a95f5c50c360d9edbba278

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index e234058..6006f95 100755
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -74,7 +74,7 @@ class WTBase:
 		self.volt_last_warn = rospy.Time.now()
 		rospy.loginfo("Init done")
 		i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
-		self.pStripe = LPD8806(1, 0, 12)
+		self.pStripe = LPD8806(1, 0, 16)
 		rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
 		rospy.Subscriber("led_stripe", LedStripe, self.led_stripe_received)
 		rospy.Subscriber("imu", Imu, self.imuReceived)
@@ -138,7 +138,7 @@ class WTBase:
 		return config
 
 	def imuReceived(self, msg):
-		if self.rollover_protect and any(self.cur_vel):
+		if self.rollover_protect and (any(self.cur_vel) or self.bMotorManual):
 			(roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
 			if pitch > self.rollover_protect_limit*pi/180:
 				self.bMotorManual = True