Revision 0f37fb41

View differences:

devices/DiWheelDrive/DiWheelDrive.cpp
98 98 
      }
99 99 
      break;
100 100 
    case CAN::SET_LINE_FOLLOW_SPEED:
101 
      if (frame->DLC == 8) {
102 
        uint8_t speedForward    = frame->data8[0];
103 
        uint8_t speedSoftLeft0  = frame->data8[1];
104 
        uint8_t speedSoftLeft1  = frame->data8[2];
105 
        uint8_t speedHardLeft0  = frame->data8[3];
106 
        uint8_t speedHardLeft1  = frame->data8[4];
107 
        global.rpmForward[0] = speedForward;
108 
        global.rpmForward[1] = speedForward;
109 
        global.rpmSoftLeft[0] = speedSoftLeft0;
110 
        global.rpmSoftLeft[1] = speedSoftLeft1;
111 
        global.rpmHardLeft[0] = speedHardLeft0;
112 
        global.rpmHardLeft[1] = speedHardLeft1;
101 
      if (frame->DLC == 5) {
102 
        global.rpmForward[0] = frame->data8[0];
103 
        global.rpmForward[1] = frame->data8[0];
104 
        global.rpmSoftLeft[0] = frame->data8[1];
105 
        global.rpmSoftLeft[1] = frame->data8[2];
106 
        global.rpmHardLeft[0] = frame->data8[3];
107 
        global.rpmHardLeft[1] = frame->data8[4];
113 108 
        global.rpmSoftRight[0] = global.rpmSoftLeft[1];
114 109 
        global.rpmSoftRight[1] = global.rpmSoftLeft[0];
115 110 
        global.rpmHardRight[0] = global.rpmHardLeft[1];

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