Commit e0470e73 authored by roangel's avatar roangel
Browse files

fixed motors_off thing

parent d59db97e
......@@ -34,6 +34,11 @@
#include "d_fall_pps/ControlCommand.h"
// types PPS firmware
#define TYPE_PPS_MOTORS 6
#define TYPE_PPS_RATE 7
#define TYPE_PPS_ANGLE 8
// tipes of controllers being used:
#define SAFE_CONTROLLER 0
#define CUSTOM_CONTROLLER 1
......@@ -515,7 +520,7 @@ void viconCallback(const ViconData& viconData) {
else
{
ControlCommand zeroOutput = ControlCommand(); //everything set to zero
zeroOutput.onboardControllerType = 2; //set to motor_mode
zeroOutput.onboardControllerType = TYPE_PPS_MOTORS; //set to motor_mode
controlCommandPublisher.publish(zeroOutput);
bag.write("ViconData", ros::Time::now(), local);
bag.write("ControlOutput", ros::Time::now(), zeroOutput);
......
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