change driving direction and correct printing float

illini-robomaster · Oct 5, 2024 · 831e4ab · 831e4ab
1 parent 9712c0c
commit 831e4ab
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Showing 2 changed files with 9 additions and 9 deletions.
diff --git a/vehicles/Engineer/arm/src/arm.cc b/vehicles/Engineer/arm/src/arm.cc
@@ -363,7 +363,7 @@ void checkEncodersConnected(){
     if (!encoder1->is_connected()){
       print("encoder 1 not connected\r\n");
     }
-    print("encoder 0: %d encoder 1: %d\r\n", encoder0->getData(), encoder1->getData());
+    print("encoder 0: %f encoder 1: %f\r\n", encoder0->getData(), encoder1->getData());
     osDelay(100);
   }
 }
@@ -400,12 +400,12 @@ void armTask(void* args) {
 
   // uncomment SetZeroPos() if remounted 4310
 
-  forearm_rotate_motor_4->SetZeroPos();
-  osDelay(10);
-  wrist_rotate_motor_5->SetZeroPos();
-  osDelay(10);
-  hand_rotate_motor_6->SetZeroPos();  
-  osDelay(10);
+  // forearm_rotate_motor_4->SetZeroPos();
+  // osDelay(10);
+  // wrist_rotate_motor_5->SetZeroPos();
+  // osDelay(10);
+  // hand_rotate_motor_6->SetZeroPos();  
+  // osDelay(10);
 
 
 

diff --git a/vehicles/Engineer/arm/src/main.cc b/vehicles/Engineer/arm/src/main.cc
@@ -139,10 +139,10 @@ void RM_RTOS_Default_Task(const void* args) {
         // print("ROBOTID: %d",referee->game_robot_status.robot_id);
 #endif
         send->cmd.id = bsp::VX;
-        send->cmd.data_float = -sbus->ch[6]/660.0;
+        send->cmd.data_float = sbus->ch[6]/660.0;
         send->TransmitOutput();
         send->cmd.id = bsp::VY;
-        send->cmd.data_float = -sbus->ch[7]/660.0;
+        send->cmd.data_float = sbus->ch[7]/660.0;
         send->TransmitOutput();
         send->cmd.id = bsp::RELATIVE_ANGLE;
         send->cmd.data_float = -sbus->ch[8]/660.0;