AMiRo-OS

#include "hal.h"

#include "qei.h"

#include "DiWheelDrive.h"

#include <global.hpp>

      }

      break;

    case CAN::SET_LINE_FOLLOW_MSG:

      if (frame->DLC == 1) {

        global.lfStrategy = frame->data8[0];

        global.msgReceived = true;

      }

      break;

    case CAN::SET_KINEMATIC_CONST_ID:

    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;

  return 0;

}

void DiWheelDrive::periodicBroadcast() {

  CANTxFrame frame;

  frame.SID = 0;

  frame.data32[1] = this->actualSpeed[1];

  frame.DLC = 8;

  this->transmitMessage(&frame);

  // Send the valocites µm/s of the x axis and µrad/s around z axis: end

  // Send the odometry: start