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Merge pull request #3030 from dronecrew/control-update

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uORB/ control wrapper update
This commit is contained in:
Lorenz Meier
2015-10-22 00:22:58 +02:00
parent 8fa49d8ac5 f0ad724fda
commit c6b41b4e5e
13 changed files with 314 additions and 222 deletions
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src/drivers/roboclaw/RoboClaw.cpp
+2 -2
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@@ -299,8 +299,8 @@ int RoboClaw::update()
// if new data, send to motors
if (_actuators.updated()) {
_actuators.update();
setMotorDutyCycle(MOTOR_1, _actuators.control[CH_VOLTAGE_LEFT]);
setMotorDutyCycle(MOTOR_2, _actuators.control[CH_VOLTAGE_RIGHT]);
setMotorDutyCycle(MOTOR_1, _actuators.get().control[CH_VOLTAGE_LEFT]);
setMotorDutyCycle(MOTOR_2, _actuators.get().control[CH_VOLTAGE_RIGHT]);
}
return 0;