Fixed steerRT & steerLT swapping

Electrostat-Lab · Jan 9, 2021 · 897845a · 897845a
1 parent e191a6c
commit 897845a
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/src/main/java/JoystickModule.java b/src/main/java/JoystickModule.java
@@ -79,6 +79,8 @@ public void initializeModule(double thresholdAnalogValue,Pin SW_Pin) throws IOEx
             position[0] +=1;
         });
         mcp3008GpioProvider.setEventThreshold(thresholdAnalogValue, gpioPinAnalogInput);
+        mcp3008GpioProvider.setMonitorEnabled(true);
+        mcp3008GpioProvider.setMonitorInterval(250);
         gpioPinDigitalInput=gpioController.provisionDigitalInputPin(SW_Pin);
     }
     public void startCollectingChannelsData(){
@@ -108,10 +110,10 @@ public void startCollectingChannelsData(){
                 onBackwardListener.backward((float)valueY/100f);
             }
             if(valueX>(neutralizeState+tolerance)){
-                steerLTListener.steerLT((float) (valueX/100f));
+                steerRTListener.steerRT((float) (valueX/100f));
             }
             if(valueX<(neutralizeState-tolerance)){
-                steerRTListener.steerRT((float)valueX/100f);
+                steerLTListener.steerLT((float)valueX/50f);
             }
             if((valueY>(neutralizeState-tolerance) && valueY<(neutralizeState+tolerance))
                     &&