Reverse angular speeds to fix turning

purduesigbots · Apr 11, 2022 · 3bcdff8 · 3bcdff8
1 parent a6e17a7
commit 3bcdff8
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/Makefile b/Makefile
@@ -27,7 +27,7 @@ EXCLUDE_COLD_LIBRARIES:=
 IS_LIBRARY:=1
 
 LIBNAME:=ARMS
-VERSION:=2.0.0
+VERSION:=2.0.1
 # EXCLUDE_SRC_FROM_LIB= $(SRCDIR)/unpublishedfile.c
 # this line excludes opcontrol.c and similar files
 EXCLUDE_SRC_FROM_LIB+=$(foreach file, $(SRCDIR)/main,$(foreach cext,$(CEXTS),$(file).$(cext)) $(foreach cxxext,$(CXXEXTS),$(file).$(cxxext)))

diff --git a/src/ARMS/pid.cpp b/src/ARMS/pid.cpp
@@ -124,7 +124,7 @@ std::array<double, 2> angular() {
 	double sv = odom::getHeading();
 	double speed =
 	    pid(angularTarget, sv, &pe, &in, angularKP, angularKI, angularKD);
-	return {speed, -speed}; // clockwise positive
+	return {-speed, speed}; // clockwise positive
 }
 
 void init(double linearKP, double linearKI, double linearKD, double angularKP,