inverse value for pitch_handicap_strength

diff --git a/config/wt_node.cfg b/config/wt_node.cfg
index dbd9c1b285ef9922372e9f0ae2ab75624e8d5e6e..675735a6a78787f8d4c796544f40ab1994a745cc 100755 (executable)
--- a/config/wt_node.cfg
+++ b/config/wt_node.cfg
@@ -10,6 +10,6 @@ gen.add("odom_covar_xy",      double_t,       0, "Odometry covariance: translation", 1e-2,
 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("pitch_handicap_strength",double_t,    0, "Pitch handicap limit strength", 40, 0, 100)
 
 exit(gen.generate("wild_thumper", "wild_thumper", "WildThumper"))

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 5fc59d7dbf5dad1dfd63639fa267534032073aa4..781acfa593abd636ffb8d9d339026462c62da9d1 100755 (executable)
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -106,7 +106,7 @@ class MoveBase:
                self.odom_covar_angle = config["odom_covar_angle"]
                self.pitch_handicap_enable = config["pitch_handicap_enable"]
                self.pitch_handicap_limit = config["pitch_handicap_limit"]
-               self.pitch_handicap_strength = config["pitch_handicap_strength"]
+               self.pitch_handicap_strength = 100-config["pitch_handicap_strength"]
 
                if not self.pitch_handicap_enable:
                        self.set_motor_handicap(0, 0)