Merge pull request #311 from HassoPlattnerInstituteHCI/hotfix

hotfix on rotation PID on it handle (flipped)
HassoPlattnerInstituteHCI · Jun 18, 2020 · 4a65cea · 4a65cea
2 parents 9bdaf20 + 1ef5993
commit 4a65cea
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/firmware/src/hardware/panto.cpp b/firmware/src/hardware/panto.cpp
@@ -333,6 +333,7 @@ void Panto::actuateMotors()
                 {
                     error += TWO_PI;
                 }
+                if(encoderFlipped[c_globalHandleIndex]==1) error*=-1;
             }
             unsigned char dir = error < 0;
             unsigned long now = micros();