AMiRo-OS

#include "hal.h"

#include "qei.h"

#include "DiWheelDrive.h"

#include <global.hpp>

    case CAN::POWER_STATUS_ID:

      if (frame->DLC == 6) {

        // The power status is evaluated by inherited ControllerAreaNetworkRx object, but depending on the flags the power path controller needs to enabled or disabled.

        types::power_status::ChargingState charging_flags;

        charging_flags.value = frame->data8[0];

        global.ltc4412.enable(charging_flags.content.diwheeldrive_enable_power_path);

        // Do not return with RDY_OK, or the inherited ControllerAreaNetworkRx object would not evaluate the rest of this message.

      }

    break;

  this->transmitMessage(&frame);

}

void DiWheelDrive::periodicBroadcast() {

  CANTxFrame frame;

  frame.SID = 0;

  frame.DLC = 6;

  this->transmitMessage(&frame);

  // Send the board ID (board ID of DiWheelDrive = Robot ID)

  if (this->bcCounter % 10 == 0) {

    frame.SID = 0;

    * @param power 0 to disable, 1 to enable

    */

    void requestCharging(uint8_t power);

  protected:

    virtual msg_t receiveMessage(CANRxFrame *frame);

    virtual msg_t updateSensorVal();

    virtual void periodicBroadcast();

    void  calibrateProximityFloorValues();

  private: