commit 7b859d4a51c1556e0b70045de3555c0e2a8b05a4
author Brian Silverman <brians> Sun Sep 22 19:42:26 2013 -0700
committer Brian Silverman <brians> Sun Sep 22 19:47:37 2013 -0700
tree 90ca0d9eeff0e75bb3a1e709e2b82674c257f388
parent 656789c1a34a5cf703ca6cc3fd8b5ed803594a96

fixed double->PWM values getting wrapped

aos/atom_code/output/motor_output.cc

diff --git a/aos/atom_code/output/motor_output.cc b/aos/atom_code/output/motor_output.cc
index b68dcad..48acc38 100644
--- a/aos/atom_code/output/motor_output.cc
+++ b/aos/atom_code/output/motor_output.cc
@@ -17,13 +17,19 @@
 
 uint8_t MotorOutput::MotorControllerBounds::Map(double value) const {
   if (value == 0.0) return kCenter;
+  if (value > 12.0) return Map(12.0);
+  if (value < -12.0) return Map(-12.0);
+  uint8_t r;
   if (value > 0.0) {
-    return static_cast<uint8_t>(kDeadbandMax + (value * (kMax - kDeadbandMax)) +
-                                0.5);
+    r = static_cast<uint8_t>(kDeadbandMax + (value * (kMax - kDeadbandMax)) +
+                             0.5);
   } else {
-    return static_cast<uint8_t>(kDeadbandMin + (value * (kDeadbandMin - kMin)) +
-                                0.5);
+    r = static_cast<uint8_t>(kDeadbandMin + (value * (kDeadbandMin - kMin)) +
+                             0.5);
   }
+  if (r < kMin) return kMin;
+  if (r > kMax) return kMax;
+  return r;
 }
 
 MotorOutput::MotorOutput()