From 3c7cfdd2b57407fd940271d4189ed5912e0cbc6d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A1ndez?= <shernand@iri.upc.edu>
Date: Mon, 22 Feb 2016 23:14:18 +0000
Subject: [PATCH] Solved a problem in the computation of the slopes.
---
src/motion_manager.c | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/motion_manager.c b/src/motion_manager.c
index 824bb2f..15bcce0 100644
--- a/src/motion_manager.c
+++ b/src/motion_manager.c
@@ -37,8 +37,8 @@ void manager_send_motion_command(void)
if(manager_servos[i].enabled && manager_servos[i].model!=0x0000)
{
servo_ids[num]=manager_servos[i].id;
- manager_servos[i].cw_comp=(1<<manager_current_slopes[i]);
- manager_servos[i].ccw_comp=(1<<manager_current_slopes[i]);
+ manager_servos[i].cw_comp=(1<<(manager_current_slopes[i]&0x0F));
+ manager_servos[i].ccw_comp=(1<<((manager_current_slopes[i]&0xF0)>>4));
write_data[num].data_addr=(uint8_t *)&(manager_servos[i].cw_comp);
num++;
}
--
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