Bug fix: missing conditional.

Auto and manual motor commands should currently be treated differently. This should be revisited so that manual drive produces commands that are compatible with auto. We should also change the misused twist message type with a real value pair.

Author: gmfricke

src/abridge/src/abridge.cpp

@@ -165,13 +165,17 @@ void driveCommandHandler(const geometry_msgs::Twist::ConstPtr& message) {
   // the hardware to fail when the robot moves itself too violently.
   int max_motor_cmd = 120;
 
-  // Assumes left and right are always between -1 and 1
-  float linear = left * max_motor_cmd; 
-  float angular = right * max_motor_cmd; 
-
-  left = linear - angular;
-  right = linear + angular;
+  if (currentMode == 1)
+  {
+    // Assumes left and right are always between -1 and 1
+    float linear = left * max_motor_cmd; 
+    float angular = right * max_motor_cmd; 
+	  
+    left = linear - angular;
+    right = linear + angular;
+  }
 
+  // Check that the resulting motor commands do not exceed the specified safe maximum value
   if (left > max_motor_cmd)
   {
     left = max_motor_cmd;