Fix orientation of Joints

SvenAlbrecht · May 9, 2014 · b7fd990 · b7fd990
1 parent 00df4bc
commit b7fd990
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/src/laserscanner_node.cpp b/src/laserscanner_node.cpp
@@ -36,9 +36,9 @@
 #define _USE_MATH_DEFINES
 
 
-#define MIN_POS ((-50.0 * (float)M_PI) / 180.0)
-#define STANDBY_POS ((-20.0 * (float)M_PI) / 180.0)
-#define MAX_POS ((60.0 * (float)M_PI) / 180.0)
+#define MIN_POS ((50.0 * (float)M_PI) / 180.0)
+#define STANDBY_POS ((20.0 * (float)M_PI) / 180.0)
+#define MAX_POS ((-60.0 * (float)M_PI) / 180.0)
 #define RANGE 1000
 
 static ros::ServiceClient client;

diff --git a/src/ps3joy_kurt3d.cpp b/src/ps3joy_kurt3d.cpp
@@ -108,7 +108,7 @@ void ps3joyCallback(const sensor_msgs::Joy::ConstPtr& joy)
     msg.name[0] = "servo_1_b_to_wing_1_b";
     msg.name[1] = "servo_1_a_to_wing_1_a";
 
-    msg.position[0] = (((joy->axes[2]*-1.0+1.0) / 2.0) * (max_pos[2]-min_pos[2])) + min_pos[2];
+    msg.position[0] = (((joy->axes[2]+1.0) / 2.0) * (max_pos[2]-min_pos[2])) + min_pos[2];
     msg.position[1] = (((joy->axes[3]*-1.0+1.0) / 2.0) * (max_pos[1]-min_pos[1])) + min_pos[1];
 
     servo_pub.publish(msg);
@@ -123,7 +123,7 @@ void ps3joyCallback(const sensor_msgs::Joy::ConstPtr& joy)
     msg.name[0] = "servo_2_b_to_wing_2_b";
     msg.name[1] = "servo_2_a_to_wing_2_a";
 
-    msg.position[0] = (((joy->axes[2]*-1+1.0) / 2.0) * (max_pos[4]-min_pos[4])) + min_pos[4];
+    msg.position[0] = (((joy->axes[2]+1.0) / 2.0) * (max_pos[4]-min_pos[4])) + min_pos[4];
     msg.position[1] = (((joy->axes[3]+1.0) / 2.0) * (max_pos[3]-min_pos[3])) + min_pos[3];
 
     servo_pub.publish(msg);