Merge branch 'master' into stable

RoboJackets · Sep 15, 2024 · 02a9740 · 02a9740
2 parents 20fec0f + 4e55f62
commit 02a9740
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diff --git a/platformio.ini b/platformio.ini
@@ -1,5 +1,6 @@
 [platformio]
-default_envs = StepperArm
+default_envs = Main
+
 
 
 [env:Main]

diff --git a/src/SoloComputerControl/main.cpp b/src/SoloComputerControl/main.cpp
@@ -67,6 +67,12 @@ int main()  {
             // protobuf::Messages::decodeRequest(requestBuffer, requestLength, requestMessage);
             protobuf::Messages::decodeRequest(requestBuffer, requestLength, requestMessage);
 
+            if (requestMessage.leftSpeed > 4000) requestMessage.leftSpeed = 4000;
+            else if (requestMessage.leftSpeed < -4000) requestMessage.leftSpeed = -4000;
+
+            if (requestMessage.rightSpeed > 4000) requestMessage.rightSpeed = 4000;
+            else if (requestMessage.rightSpeed < -4000) requestMessage.rightSpeed = -4000;
+
             Serial.print("left: ");
             Serial.print(requestMessage.leftSpeed);
             Serial.print(", right: ");