X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=dcae6740c02b7fa35e07eb7416f75293cc0819eb;hp=4064fb89a364ec91e9aaa7c9c5da2c8fe5607ade;hb=fb692fdbf76fda0e13adb284b6ccd09cb3fa7afb;hpb=53c52f19f4cd243c9f5a66780ca365d54820761f

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 4064fb8..dcae674 100755
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -65,10 +65,10 @@ class MoveBase:
 		(roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
 		if pitch > 30*pi/180:
 			val = (100.0/65)*abs(pitch)*180/pi
-			self.set_motor_handicap(0, int(val))
+			self.set_motor_handicap(int(val), 0)
 		elif pitch < -30*pi/180:
 			val = (100.0/65)*abs(pitch)*180/pi
-			self.set_motor_handicap(int(val), 0)
+			self.set_motor_handicap(0, int(val))
 		else:
 			self.set_motor_handicap(0, 0)
 
@@ -238,13 +238,13 @@ class MoveBase:
 	def get_dist_forward(self):
 		if self.pub_range_fwd.get_num_connections() > 0:
 			dist = self.read_dist_srf(0x15)
-			self.send_range(self.pub_range_fwd, "sonar_forward", Range.ULTRASOUND, dist, 0.04, 6, 30)
+			self.send_range(self.pub_range_fwd, "sonar_forward", Range.ULTRASOUND, dist, 0.04, 6, 40)
 			self.start_dist_srf(0x5) # get next value
 
 	def get_dist_backward(self):
 		if self.pub_range_bwd.get_num_connections() > 0:
 			dist = self.read_dist_srf(0x17)
-			self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, 6, 30)
+			self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, 6, 40)
 			self.start_dist_srf(0x7) # get next value