Revision 0f37fb41 devices/DiWheelDrive/DiWheelDrive.cpp
devices/DiWheelDrive/DiWheelDrive.cpp | ||
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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]; |
|
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global.rpmForward[1] = frame->data8[0]; |
|
104 |
global.rpmSoftLeft[0] = frame->data8[1]; |
|
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global.rpmSoftLeft[1] = frame->data8[2]; |
|
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global.rpmHardLeft[0] = frame->data8[3]; |
|
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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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