r2maeh2/engine_control
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turn commands improved

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This commit is contained in:
Thomas Klaehn 2016-08-11 21:42:06 +02:00
parent 02a8334ebb
commit 4204b82bd6
1 changed files with 8 additions and 4 deletions
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12
source/application/shell_commands.c
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@ -78,8 +78,10 @@ int shell_commands_init(void)
static void *drive_turn_right_cb(const char *param)
{
int speed = drive_ctrl_get_speed_value();
drive_ctrl_set_speed_left(speed);
drive_ctrl_set_speed_right(0);
drive_ctrl_set_speed_left(abs(speed));
if(speed > 0)
speed *= -1;
drive_ctrl_set_speed_right(speed);
return NULL;
}
@ -87,8 +89,10 @@ static void *drive_turn_right_cb(const char *param)
static void *drive_turn_left_cb(const char *param)
{
int speed = drive_ctrl_get_speed_value();
drive_ctrl_set_speed_left(0);
drive_ctrl_set_speed_right(speed);
drive_ctrl_set_speed_right(abs(speed));
if(speed > 0)
speed *= -1;
drive_ctrl_set_speed_left(speed);
return NULL;
}