From b730e1055d5ef4f3de172122d862d947ae24d251 Mon Sep 17 00:00:00 2001 From: "E.Hunckler" Date: Thu, 22 Aug 2024 22:39:01 -0500 Subject: [PATCH] - turn at full rate when not moving. --- main_app.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/main_app.c b/main_app.c index 5a067ea..b8ef88c 100644 --- a/main_app.c +++ b/main_app.c @@ -68,8 +68,8 @@ static void update_motor_driver_from_control_input( struct bt_hid_state* state ) { // rotate in place // This handles both rotate left and right as left will be negative and right positive - left_output = swerve_right_rate / 2; - right_output = -1*swerve_right_rate / 2; + left_output = swerve_right_rate; + right_output = -1*swerve_right_rate; } // otherwise no rotation }