Revision 309980f0

View differences:

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;

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