Fixed odrives. Now working.

arbie_hardware/src/odrives/main.py

@@ -38,8 +38,8 @@ flippers_rear_offset =  605
 flippers_scale = 2 * pi/1024.0
 
 # TODO: Set these as parameters
-odrives_cpr = 8192
-tracks_gear_ratio = 5
+odrives_cpr = 8192.0
+tracks_gear_ratio = 32.0
 
 # Service callbacks for flippers_front_...
 
@@ -92,7 +92,7 @@ def tracks_left_read(req):
 def tracks_left_write(req):
     if tracks.is_connected():
         # WRITE AXIS0
-        vel_cmd = (req.cmd.data/(2*pi))*odrives_cpr*tracks_gear_ratio
+        vel_cmd = -(req.cmd.data/(2*pi))*odrives_cpr*tracks_gear_ratio
         tracks.write_velocity_axis0(vel_cmd);
         tracks_left_res.vel.data = req.cmd.data
         return WriteHardwareResponse(True)
@@ -116,7 +116,7 @@ def tracks_right_write(req):
     if tracks.is_connected():
         # WRITE AXIS1
         vel_cmd = (req.cmd.data/(2*pi))*odrives_cpr*tracks_gear_ratio
-        tracks.write_velocity_axis1(req.cmd.data)
+        tracks.write_velocity_axis1(vel_cmd)
         tracks_right_res.vel.data = req.cmd.data
         return WriteHardwareResponse(True)
     else: