joy value

Author: Ackimixs

src/modelec_com/src/pcb_odo_interface.cpp

@@ -74,16 +74,16 @@ namespace Modelec
             [this](const sensor_msgs::msg::Joy::SharedPtr msg)
             {
                 double left_axis = msg->axes[1];
-                double right_axis = msg->axes[3];
+                double right_axis = msg->axes[2];
 
                 if (fabs(left_axis) < 0.05) left_axis = 0.0;
                 if (fabs(right_axis) < 0.05) right_axis = 0.0;
 
-                // int left  = static_cast<int>(forward * 626 - turn * 626);
-                // int right = static_cast<int>(forward * 626 + turn * 626);
+                int left_motor  = static_cast<int>(forward * 626 - turn * 626);
+                int right_motor = static_cast<int>(forward * 626 + turn * 626);
 
-                int left_motor  = static_cast<int>(left_axis  * 626);
-                int right_motor = static_cast<int>(right_axis * 626);
+                // int left_motor  = static_cast<int>(left_axis  * 626);
+                // int right_motor = static_cast<int>(right_axis * 626);
 
                 left_motor  = std::max(-626, std::min(626, left_motor));
                 right_motor = std::max(-626, std::min(626, right_motor));