ORTEPublicationSend(orte->publication_robot_switches);
break;
case CAN_ROBOT_BUMPERS:
- orte->robot_bumpers.bumper_left = !!(frame.data[0] & CAN_BUMPER_LEFT);
- orte->robot_bumpers.bumper_left_across = !!(frame.data[0] & CAN_BUMPER_LEFT_ACROSS);
- orte->robot_bumpers.bumper_right = !!(frame.data[0] & CAN_BUMPER_RIGHT);
- orte->robot_bumpers.bumper_right_across = !!(frame.data[0] & CAN_BUMPER_RIGHT_ACROSS);
- orte->robot_bumpers.bumper_rear = !!(frame.data[0] & CAN_BUMPER_REAR);
- ORTEPublicationSend(orte->publication_robot_switches);
+ orte->robot_bumpers.bumper_left = (frame.data[0] & CAN_BUMPER_LEFT) ? 0 : 1;
+ orte->robot_bumpers.bumper_left_across = (frame.data[0] & CAN_BUMPER_LEFT_ACROSS) ? 0 : 1;
+ orte->robot_bumpers.bumper_right = (frame.data[0] & CAN_BUMPER_RIGHT) ? 0 : 1;
+ orte->robot_bumpers.bumper_right_across = (frame.data[0] & CAN_BUMPER_RIGHT_ACROSS) ? 0 : 1;
+ orte->robot_bumpers.bumper_rear = (frame.data[0] & CAN_BUMPER_REAR) ? 0 : 1;
+ ORTEPublicationSend(orte->publication_robot_bumpers);
break;
/* positioning by odometry */