From f77f6ebe1a3034286b87220f6db1fbd4c165e7df Mon Sep 17 00:00:00 2001
From: David St-Onge <david.st-onge@polymtl.ca>
Date: Mon, 30 Jan 2017 17:10:07 -0500
Subject: [PATCH] lj test

---
 src/roscontroller.cpp | 4 ++--
 src/test1.bzz         | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index fc92f16..c7460d8 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -423,8 +423,8 @@ namespace rosbzz_node{
 		z = cartesian_pos_payload[2];
 		try {
        		out[0]=sqrt(pow(x,2.0)+pow(y,2.0)+pow(z,2.0));
-		out[1]=atan2(y,x);
-		out[2]=atan2((sqrt(pow(x,2.0)+pow(y,2.0))),z);
+		out[1]=atan2(x,y);
+		out[2]=atan2(z,(sqrt(pow(x,2.0)+pow(y,2.0))));
    		} catch (std::overflow_error e) {
         	std::cout << e.what() << " Error in convertion to spherical coordinate system "<<endl;
    		}
diff --git a/src/test1.bzz b/src/test1.bzz
index 7f7b224..df435a4 100644
--- a/src/test1.bzz
+++ b/src/test1.bzz
@@ -17,7 +17,7 @@ TARGET_ALTITUDE = 10.1
  
 # Lennard-Jones parameters
 TARGET     = 5	#0.000001001
-EPSILON    = 800	#0.001
+EPSILON    = 200	#0.001
  
 # Lennard-Jones interaction magnitude
 function lj_magnitude(dist, target, epsilon) {