From cd92761ea7022917af2ced51856aeb97b76972b3 Mon Sep 17 00:00:00 2001
From: Tim Korjakow <you@example.com>
Date: Thu, 15 Jun 2023 15:24:56 +0200
Subject: [PATCH] Lowered baud rate

---
 src/dcaiti_control/description/real_robot_control.xacro | 2 +-
 src/dcaitirobot/embedded/include/constants.h            | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/dcaiti_control/description/real_robot_control.xacro b/src/dcaiti_control/description/real_robot_control.xacro
index 460b39a..fbf6f23 100644
--- a/src/dcaiti_control/description/real_robot_control.xacro
+++ b/src/dcaiti_control/description/real_robot_control.xacro
@@ -7,7 +7,7 @@
             <param name="right_wheel_name">right_wheel_joint</param>
             <param name="loop_rate">30</param>
             <param name="device">/dev/ttyUSB0</param>
-            <param name="baud_rate">115200</param>
+            <param name="baud_rate">57600</param>
             <param name="timeout">1000</param>
             <param name="enc_counts_per_rev">3436</param>
         </hardware>
diff --git a/src/dcaitirobot/embedded/include/constants.h b/src/dcaitirobot/embedded/include/constants.h
index 0b47a93..8f1ee3e 100644
--- a/src/dcaitirobot/embedded/include/constants.h
+++ b/src/dcaitirobot/embedded/include/constants.h
@@ -42,7 +42,7 @@
 #define PRINT_RATE_MS			500
 
 /* uart */
-#define UART_BAUD_RATE			115200
+#define UART_BAUD_RATE			57600
 #define MAX_PACKET_LENGTH		50
 #define PACKAGE_LENGTH_NO_P		10
 #define RX_328_PIN				6