Revision 9c46b728 devices/DiWheelDrive/DiWheelDrive.cpp
| devices/DiWheelDrive/DiWheelDrive.cpp | ||
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#include "qei.h" |
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#include "DiWheelDrive.h" |
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#include <global.hpp> |
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using namespace chibios_rt; |
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} |
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break; |
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case CAN::SET_LINE_FOLLOW_SPEED: |
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if (frame->DLC == 8) {
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uint8_t speedForward = frame->data8[0]; |
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uint8_t speedSoftLeft0 = frame->data8[1]; |
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uint8_t speedSoftLeft1 = frame->data8[2]; |
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uint8_t speedHardLeft0 = frame->data8[3]; |
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uint8_t speedHardLeft1 = frame->data8[4]; |
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global.rpmForward[0] = speedForward; |
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global.rpmForward[1] = speedForward; |
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global.rpmSoftLeft[0] = speedSoftLeft0; |
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global.rpmSoftLeft[1] = speedSoftLeft1; |
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global.rpmHardLeft[0] = speedHardLeft0; |
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global.rpmHardLeft[1] = speedHardLeft1; |
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global.rpmSoftRight[0] = global.rpmSoftLeft[1]; |
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global.rpmSoftRight[1] = global.rpmSoftLeft[0]; |
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global.rpmHardRight[0] = global.rpmHardLeft[1]; |
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global.rpmHardRight[1] = global.rpmHardLeft[0]; |
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return RDY_OK; |
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} |
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if (frame->DLC == 8) {
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uint8_t speedForward = frame->data8[0]; |
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uint8_t speedSoftLeft0 = frame->data8[1]; |
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uint8_t speedSoftLeft1 = frame->data8[2]; |
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uint8_t speedHardLeft0 = frame->data8[3]; |
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uint8_t speedHardLeft1 = frame->data8[4]; |
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global.rpmForward[0] = speedForward; |
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global.rpmForward[1] = speedForward; |
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global.rpmSoftLeft[0] = speedSoftLeft0; |
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global.rpmSoftLeft[1] = speedSoftLeft1; |
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global.rpmHardLeft[0] = speedHardLeft0; |
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global.rpmHardLeft[1] = speedHardLeft1; |
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global.rpmSoftRight[0] = global.rpmSoftLeft[1]; |
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global.rpmSoftRight[1] = global.rpmSoftLeft[0]; |
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global.rpmHardRight[0] = global.rpmHardLeft[1]; |
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global.rpmHardRight[1] = global.rpmHardLeft[0]; |
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return RDY_OK; |
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} |
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break; |
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case CAN::SET_LINE_FOLLOW_STRATEGY: |
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if (frame->DLC == 1) {
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global.lfStrategy = frame->data8[0]; |
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return RDY_OK; |
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} |
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break; |
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case CAN::SET_KINEMATIC_CONST_ID: |
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if (frame->DLC == 8) {
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/* // Set (but do not store) Ed |
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