From ca92b344ac3b8e5c68deb3c8c66c417e2a029a5e Mon Sep 17 00:00:00 2001
From: Lukas Reichwein <lukas.reichwein@informatik.hs-fulda.de>
Date: Sat, 18 Jan 2020 05:22:47 +0100
Subject: [PATCH] higest and lowest values of a motor should be used instead of
 255 and -255

---
 Code/libraries/Joystick/Steuerung.cpp | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/Code/libraries/Joystick/Steuerung.cpp b/Code/libraries/Joystick/Steuerung.cpp
index ea015b2..a257a67 100644
--- a/Code/libraries/Joystick/Steuerung.cpp
+++ b/Code/libraries/Joystick/Steuerung.cpp
@@ -19,16 +19,16 @@ void Steuerung::applyPWMValuesDependingOnReadings() {
         (left -> PWMValue) = this -> yValue;
         (right -> PWMValue) = (this -> yValue) - (this -> xValue);
         if ((this -> xValue) >= (this -> yValue)) {
-          (left -> PWMValue) = 255;
-          (right -> PWMValue) = -255;
+          (left -> PWMValue) = left -> highestValue;
+          (right -> PWMValue) = right -> lowestValue;
         }
       } else {
         //+y , -x
         (left -> PWMValue) = this -> yValue;
         (right -> PWMValue) = (this -> yValue) + (this -> xValue);
         if (abs(this -> xValue) >= (this -> yValue)) {
-          (left -> PWMValue) = -255;
-          (right -> PWMValue) = 255;
+          (left -> PWMValue) = left -> lowestValue;
+          (right -> PWMValue) = right -> highestValue;
         }
       }
     } else {
@@ -37,16 +37,16 @@ void Steuerung::applyPWMValuesDependingOnReadings() {
         (left -> PWMValue) = this -> yValue;
         (right -> PWMValue) = (this -> yValue) + (this -> xValue);
         if (this -> xValue >= abs(this -> yValue)) {
-          (left -> PWMValue) = 255;
-          (right -> PWMValue) = -255;
+          (left -> PWMValue) = left -> highestValue;
+          (right -> PWMValue) = right -> lowestValue;
         }
       } else {
         //-y , -x
         (left -> PWMValue) = this -> yValue;
         (right -> PWMValue) = (this -> yValue) - (this -> xValue);
         if (abs(this -> xValue) >= abs(this -> yValue)) {
-          (left -> PWMValue) = -255;
-          (right -> PWMValue) = 255;
+          (left -> PWMValue) = left -> lowestValue;
+          (right -> PWMValue) = right -> highestValue;
         }
       }
     }