From 0d274c7075e5daadad3f91fabdd34f5dc3b471f5 Mon Sep 17 00:00:00 2001
From: Juan Miguel Jimeno <jimenojmm@gmail.com>
Date: Wed, 17 May 2017 18:41:56 +0800
Subject: [PATCH] changed hardcoded pwm resolution to defined resolution

---
 Kinematics.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Kinematics.cpp b/Kinematics.cpp
index 49bb64a..7e48f2a 100644
--- a/Kinematics.cpp
+++ b/Kinematics.cpp
@@ -132,5 +132,5 @@ Kinematics::velocities Kinematics::getVelocities(int motor1, int motor2, int mot
 int Kinematics::rpmToPWM(int rpm)
 {
   //remap scale of target RPM vs MAX_RPM to PWM
-  return (((double) rpm / (double) max_rpm_) * 255);
+  return (((double) rpm / (double) max_rpm_) * pwm_res_);
 }