Merge pull request #262 from pioneers/temp

[LOWCAR] Small fixes to KoalaBear
pioneers · Apr 26, 2023 · d956812 · d956812
2 parents 88b5042 + a894865
commit d956812
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Showing 2 changed files with 5 additions and 6 deletions.
diff --git a/lowcar/devices/KoalaBear/KoalaBear.cpp b/lowcar/devices/KoalaBear/KoalaBear.cpp
@@ -116,7 +116,7 @@ KoalaBear::KoalaBear() : Device(DeviceType::KOALA_BEAR, 13) {
     // initialize PID controllers
     this->pid_a = new PID();
     this->pid_b = new PID();
-    this->pid_enabled_a = this->pid_enabled_b = TRUE;  // by default, PID control is enabled
+    this->pid_enabled_a = this->pid_enabled_b = FALSE;  // by default, PID control is enabled
     this->pid_a->set_coefficients(KP_DEFAULT, KI_DEFAULT, KD_DEFAULT);
     this->pid_b->set_coefficients(KP_DEFAULT, KI_DEFAULT, KD_DEFAULT);
 
@@ -269,8 +269,8 @@ void KoalaBear::device_enable() {
     pinMode(BENC1, INPUT);
     pinMode(BENC2, INPUT);
 
-    this->pid_enabled_a = TRUE;
-    this->pid_enabled_b = TRUE;
+    this->pid_enabled_a = FALSE;
+    this->pid_enabled_b = FALSE;
 
     this->led->setup_LEDs();
 
@@ -288,8 +288,8 @@ void KoalaBear::device_reset() {
     this->velocity_b = 0.0;
     this->curr_velocity_a = 0.0;
     this->curr_velocity_b = 0.0;
-    this->pid_enabled_a = TRUE;
-    this->pid_enabled_b = TRUE;
+    this->pid_enabled_a = FALSE;
+    this->pid_enabled_b = FALSE;
     this->online = FALSE;
 }
 

diff --git a/lowcar/devices/PDB/PDB.h b/lowcar/devices/PDB/PDB.h
@@ -16,7 +16,6 @@ class PDB : public Device {
 
     // overriden functions from Device class; see descriptions in Device.h
     virtual size_t device_read(uint8_t param, uint8_t* data_buf);
-    virtual void device_enable();
     virtual void device_actions();
     void expanderWrite(byte data);
     void writeString(char* str);