Merge pull request hybridgroup#406 from vlastv/fix-gpio-motor

Fix incorrect change state
OpenCoopNetwork · Apr 12, 2017 · 9430e6e · 9430e6e
2 parents 6ae2003 + 8c62d8c
commit 9430e6e
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/drivers/gpio/motor_driver.go b/drivers/gpio/motor_driver.go
@@ -182,12 +182,12 @@ func (m *MotorDriver) isDigital() bool {
 func (m *MotorDriver) changeState(state byte) (err error) {
 	m.CurrentState = state
 	if state == 1 {
-		m.CurrentSpeed = 0
-	} else {
 		m.CurrentSpeed = 255
+	} else {
+		m.CurrentSpeed = 0
 	}
 	if m.ForwardPin != "" {
-		if state == 0 {
+		if state == 1 {
 			err = m.Direction(m.CurrentDirection)
 			if err != nil {
 				return

diff --git a/drivers/gpio/motor_driver_test.go b/drivers/gpio/motor_driver_test.go
@@ -115,6 +115,7 @@ func TestMotorDriverDirection(t *testing.T) {
 
 func TestMotorDriverDigital(t *testing.T) {
 	d := initTestMotorDriver()
+	d.SpeedPin = "" // Disable speed
 	d.CurrentMode = "digital"
 	d.ForwardPin = "2"
 	d.BackwardPin = "3"