[Personalrobots-commit] SF.net SVN: personalrobots: [179] pkg/trunk/etherdrive

[<jl...@us...>]

Revision: 179
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=179&view=rev
Author:   jleibs
Date:     2008-04-25 13:33:04 -0700 (Fri, 25 Apr 2008)

Log Message:
-----------
Fixing some small bugs in etherdrive driver.

Modified Paths:
--------------
    pkg/trunk/etherdrive/build.yaml
    pkg/trunk/etherdrive/src/libetherdrive/etherdrive.cpp
    pkg/trunk/etherdrive/test/test_etherdrive2/test_etherdrive2.cpp

Modified: pkg/trunk/etherdrive/build.yaml
===================================================================
--- pkg/trunk/etherdrive/build.yaml	2008-04-25 19:43:55 UTC (rev 178)
+++ pkg/trunk/etherdrive/build.yaml	2008-04-25 20:33:04 UTC (rev 179)
@@ -3,4 +3,5 @@
     - src/libetherdrive
     - src/etherdrive_control
     - test/test_etherdrive
+    - test/test_etherdrive2
 

Modified: pkg/trunk/etherdrive/src/libetherdrive/etherdrive.cpp
===================================================================
--- pkg/trunk/etherdrive/src/libetherdrive/etherdrive.cpp	2008-04-25 19:43:55 UTC (rev 178)
+++ pkg/trunk/etherdrive/src/libetherdrive/etherdrive.cpp	2008-04-25 20:33:04 UTC (rev 179)
@@ -196,7 +196,7 @@
 
 int32_t EtherDrive::get_cur(uint32_t m) {
   if (m < 6) {
-    return last_enc[m];
+    return last_cur[m];
   }
 }
 
@@ -242,7 +242,7 @@
     last_cur[i] = buf[6+i];
   }
   for (int i = 0; i < 6; i++) {
-    last_pwm[i] = buf[6+i];
+    last_pwm[i] = buf[12+i];
   }
 
 

Modified: pkg/trunk/etherdrive/test/test_etherdrive2/test_etherdrive2.cpp
===================================================================
--- pkg/trunk/etherdrive/test/test_etherdrive2/test_etherdrive2.cpp	2008-04-25 19:43:55 UTC (rev 178)
+++ pkg/trunk/etherdrive/test/test_etherdrive2/test_etherdrive2.cpp	2008-04-25 20:33:04 UTC (rev 179)
@@ -62,8 +62,8 @@
     if (!e.tick())
       printf("Tick problem!.");
 
-    printf("Encoder0: %d Current: %d\n", m0.get_enc(), m0.get_cur());
-    printf("Encoder1: %d Current: %d\n", m1.get_enc(), m1.get_cur());
+    printf("Encoder0: %d Current: %d PWM: %d\n", m0.get_enc(), m0.get_cur(), m0.get_pwm());
+    printf("Encoder1: %d Current: %d PWM: %d\n", m1.get_enc(), m1.get_cur(), m1.get_pwm());
 
     
     // Crappy control


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