Auto will work correctly again.

The mixing and scaling that occurs for manual does not need to happen for auto
Re added the gaurd that prevented this
Left the capping of inputs outside the gaurd as a temp fix to overvolting/overamping that the motors where causing.

Author: JCHJones

src/abridge/src/abridge.cpp

@@ -163,14 +163,17 @@ void driveCommandHandler(const geometry_msgs::Twist::ConstPtr& message) {
 
   // Cap motor commands at 120. Experimentally determined that high values (tested 180 and 255) can cause 
   // the hardware to fail when the robot moves itself too violently.
-  int max_motor_cmd = 120;
+  int max_motor_cmd = 180;
 
-  // Assumes left and right are always between -1 and 1
-  float linear = left * max_motor_cmd; 
-  float angular = right * max_motor_cmd; 
+  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;
+    left = linear - angular;
+    right = linear + angular;
+  }
 
   if (left > max_motor_cmd)
   {