Quote:
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Originally Posted by Inverted
Whoops, yeah. Guess I got a little shift-happy when I typed that out. In the code it's a -.
I figured that much, but when I tried to mess with the terms, switching the + and -, I only succeeded in making the whole control scheme inverted (how ironic). By that I mean that if you turned the joystick upside down, it worked perfectly. Then I figured that if the controls were inverted, everything would work if I made everything the opposite of what it was, so it looked something like:
Code:
PWM 13 = PWM 14 = Limit_Mix(-(2000 + p1_y + p1_x - 127));
PWM 15 = PWM 16 = Limit_Mix(-(2000 - p1_y + p1_x + 127));
That isn't the correct placement of the +'s and -'s, but you get the idea. Unfortunately, that just made the wheels spin out of control, unable to be feathered. Any idea what I could be doing wrong? I was thinking of just reversing the polarity of the motors on one side so the code would be the same for both sides, but I'd rather mess with the code than screw with the wiring. |
It's terribly important that those 2000 terms stay positive. Think it through, though. If p1_x controls the left and right turning, and your turning is backwards, wouldn't it make sense to make make p1_x the opposite of what it is in each of those formulae?