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Rover: support brushed motor on normal rover

This commit is contained in:
khancyr 2017-08-24 20:09:32 +09:00 committed by Randy Mackay
parent 25b1307400
commit 2f1cc5ddfc
1 changed files with 3 additions and 2 deletions
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5
APMrover2/AP_MotorsUGV.cpp
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@ -98,6 +98,7 @@ void AP_MotorsUGV::setup_safety_output()
{ {
if (_pwm_type == PWM_TYPE_BRUSHED_WITH_RELAY) { if (_pwm_type == PWM_TYPE_BRUSHED_WITH_RELAY) {
// set trim to min to set duty cycle range (0 - 100%) to servo range // set trim to min to set duty cycle range (0 - 100%) to servo range
SRV_Channels::set_trim_to_min_for(SRV_Channel::k_throttle);
SRV_Channels::set_trim_to_min_for(SRV_Channel::k_throttleLeft); SRV_Channels::set_trim_to_min_for(SRV_Channel::k_throttleLeft);
SRV_Channels::set_trim_to_min_for(SRV_Channel::k_throttleRight); SRV_Channels::set_trim_to_min_for(SRV_Channel::k_throttleRight);
} }
@ -205,7 +206,7 @@ void AP_MotorsUGV::output_regular(bool armed, float steering, float throttle)
// output to throttle channels // output to throttle channels
if (armed) { if (armed) {
// handle armed case // handle armed case
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, throttle); output_throttle(SRV_Channel::k_throttle, throttle);
} else { } else {
// handle disarmed case // handle disarmed case
if (_disarm_disable_pwm) { if (_disarm_disable_pwm) {
@ -331,7 +332,7 @@ void AP_MotorsUGV::output_throttle(SRV_Channel::Aux_servo_function_t function, f
break; break;
case SRV_Channel::k_throttleLeft: case SRV_Channel::k_throttleLeft:
case SRV_Channel::k_throttleRight: case SRV_Channel::k_throttleRight:
SRV_Channels::set_output_scaled(function, throttle*10.0f); SRV_Channels::set_output_scaled(function, throttle * 10.0f);
break; break;
default: default:
// do nothing // do nothing