Changed driver to control motor duty cycle.

11 years ago · c4a1a338ff
1 changed files with 2 additions and 2 deletions
--- a/src/drivers/roboclaw/RoboClaw.cpp
+++ b/src/drivers/roboclaw/RoboClaw.cpp
@ -254,8 +254,8 @@ int RoboClaw::update()
 	// if new data, send to motors
 	if (_actuators.updated()) {
 		_actuators.update();
-		setMotorSpeed(MOTOR_1,_actuators.control[CH_VOLTAGE_LEFT]);
+		setMotorDutyCycle(MOTOR_1,_actuators.control[CH_VOLTAGE_LEFT]);
-		setMotorSpeed(MOTOR_2,_actuators.control[CH_VOLTAGE_RIGHT]);
+		setMotorDutyCycle(MOTOR_2,_actuators.control[CH_VOLTAGE_RIGHT]);
 	}
 	return 0;
 }