Solved a problem with the detection of the rising edge of the start button. It...

Solved a problem with the detection of the rising edge of the start button. It was only etected the first time.
Changed the sign og the compass value to make it coincide with the real robot sensor.

bioloid_controller_cm510/CMakeLists.txt

@@ -91,7 +91,7 @@ catkin_package(
 ###########
 
 SET(BIOLOID_FW_PATH ~/humanoids/cm510_controller_fw)
-SET(ProjectPath ~/humanoids/cm510_controller_fw/examples)
+SET(ProjectPath ~/Desktop/new_fw/sensors)
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
@@ -126,8 +126,8 @@ add_library(${PROJECT_NAME} src/bioloid_controller_cm510.cpp
                             ${BIOLOID_FW_PATH}/communications/src/dynamixel.c
                             ${BIOLOID_FW_PATH}/communications/src/serial_console.c
                             # main application module
-                            ${ProjectPath}/movements/movements.c
-                            ${ProjectPath}/movements/mtn_library.c
+                           
+		            ${ProjectPath}/main.c
                             # AVR simulation modules
                             src/sim/avr_delay.c
                             src/sim/avr_registers.c

bioloid_controller_cm510/include/bioloid_controller_cm510_impl.h

@@ -329,11 +329,7 @@ namespace bioloid_controller_cm510
 
       /* get the actual simulation angles */
       for(unsigned int i=0;i<this->joints_.size();++i)
-      {
         real_angles[i]=joints_[i].getPosition();
-        std::cout << real_angles[i] << ",";
-      }
-      std::cout << std::endl;
       pushbuttons_loop();
       adc_loop();
       exp_board_loop();
@@ -348,10 +344,8 @@ namespace bioloid_controller_cm510
       {
         target_angles[i] = ((((manager_servos[i].current_value+balance_offsets[i]-manager_servos[i].center_value)*300.0/1023.0)*3.14159)/180.0);
         const double command = this->pids_[i]->computeCommand(target_angles[i]-real_angles[i],period);
-        std::cout << target_angles[i] << ",";
         this->joints_[i].setCommand(command);
       }
-      std::cout << std::endl;
     }
 
   template <class HardwareInterface>
@@ -379,7 +373,7 @@ namespace bioloid_controller_cm510
         adc_values[BALANCE_GYRO_Y_CHANNEL]=512;
       }
       // process the compass information from the expansion board
-      exp_compass_value=(tf::getYaw(msg->orientation)*180.0/3.14159)*10.0;
+      exp_compass_value=-(tf::getYaw(msg->orientation)*180.0/3.14159)*10.0;
       if(((int16_t)exp_compass_value)<0)
         exp_compass_value+=3600;
     }
@@ -519,7 +513,7 @@ namespace bioloid_controller_cm510
       if(msg->data&BTN_START)
         PIND&=~BTN_START;
       else
-        PINE|=BTN_START;
+        PIND|=BTN_START;
     } 
 
   template <class HardwareInterface>