Revision 309980f0
| devices/DiWheelDrive/DiWheelDrive.cpp | ||
|---|---|---|
| 201 | 201 |
this->transmitMessage(&frame); |
| 202 | 202 |
} |
| 203 | 203 |
|
| 204 |
void DiWheelDrive::transmitMapState(map_state state) {
|
|
| 205 |
CANTxFrame frame; |
|
| 206 |
// frame.SID = 0; |
|
| 207 |
// this->encodeDeviceId(&frame, CAN::TRANSMIT_LINE_FOLLOW_STATE); |
|
| 208 |
// frame.data8[0] = state; |
|
| 209 |
// frame.DLC = 1; |
|
| 210 |
// this->transmitMessage(&frame); |
|
| 211 |
} |
|
| 212 |
|
|
| 204 | 213 |
void DiWheelDrive::periodicBroadcast() {
|
| 205 | 214 |
CANTxFrame frame; |
| 206 | 215 |
frame.SID = 0; |
| devices/DiWheelDrive/DiWheelDrive.h | ||
|---|---|---|
| 1 | 1 |
#ifndef AMIRO_DI_WHEEL_DRIVE_H_ |
| 2 | 2 |
#define AMIRO_DI_WHEEL_DRIVE_H_ |
| 3 |
|
|
| 4 | 3 |
#include <amiro/ControllerAreaNetworkRx.h> |
| 5 | 4 |
#include <amiro/ControllerAreaNetworkTx.h> |
| 6 | 5 |
#include <amiro/MotorIncrements.h> |
| ... | ... | |
| 32 | 31 |
*/ |
| 33 | 32 |
void requestCharging(uint8_t power); |
| 34 | 33 |
void transmitState(int8_t state); |
| 34 |
void transmitMapState(map_state state); |
|
| 35 | 35 |
|
| 36 | 36 |
protected: |
| 37 | 37 |
virtual msg_t receiveMessage(CANRxFrame *frame); |
| devices/DiWheelDrive/userthread.cpp | ||
|---|---|---|
| 356 | 356 |
}else {
|
| 357 | 357 |
newState = ut_states::UT_TEST_MAP_STATE; |
| 358 | 358 |
} |
| 359 |
|
|
| 360 | 359 |
break; |
| 360 |
case msg_content::MSG_SET_DIST_THRESH: |
|
| 361 |
|
|
| 361 | 362 |
|
| 363 |
break; |
|
| 364 |
case msg_content::MSG_GET_MAP_INFO: |
|
| 365 |
break; |
|
| 362 | 366 |
default: |
| 363 | 367 |
newState = ut_states::UT_IDLE; |
| 364 | 368 |
break; |
Also available in: Unified diff