From 28b9f5c45335214d0fa2a2df7bab474abfe2972f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= Date: Tue, 9 Aug 2022 12:08:34 +0200 Subject: [PATCH] Reverse motor direction --- src/motor_controller.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/motor_controller.cpp b/src/motor_controller.cpp index c21df21..c06c513 100644 --- a/src/motor_controller.cpp +++ b/src/motor_controller.cpp @@ -27,11 +27,11 @@ inline float clamp(const float value, const float limit) { void MotorController::init() { motor_ = mot_driver[config_.driver_num].getDCMotor(config_.motor_num); motor_->init(PWM_21kHz); - motor_->setPolarity(!config_.reverse_polarity); + motor_->setPolarity(config_.reverse_polarity); motor_->setDriveMode(true); mot_driver[config_.driver_num].enable(); encoder_ = &encoder[config_.driver_num * 2 + config_.motor_num]; - encoder_->setPolarity(config_.reverse_polarity); + encoder_->setPolarity(!config_.reverse_polarity); encoder_->init(); }