Bug Fix

robomechanics · Jun 18, 2024 · ef42450 · ef42450
1 parent f2e9526
commit ef42450
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/arm_control/scripts/arm_control.py b/arm_control/scripts/arm_control.py
@@ -149,8 +149,8 @@ def publish_lipo_battery_voltage(self, data):
         self.lipo_battery_voltage_pub.publish(f"{self.robot_controller.batt_voltage:.1f}")
         #lipo_battery_percentage = (difference / total range) * 100
         lipo_battery_percentage = (((self.robot_controller.batt_voltage - 
-                                  self.min_lipo_voltage) * 100) /
-                                  (self.max_lipo_voltage - self.min_lipo_voltage))
+                                  self.robot_controller.min_lipo_voltage) * 100) /
+                                  (self.robot_controller.max_lipo_voltage - self.robot_controller.min_lipo_voltage))
         self.lipo_battery_percentage_pub.publish(f"{lipo_battery_percentage:.1f}")
 
     def get_forward_waypoints(self, traj_type = 0):