Revision d607fcef devices/DiWheelDrive/DiWheelDrive.cpp
| devices/DiWheelDrive/DiWheelDrive.cpp | ||
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| 2 | 2 |
#include "hal.h" |
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#include "qei.h" |
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#include "DiWheelDrive.h" |
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#include <chprintf.h> |
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#include <global.hpp> |
| ... | ... | |
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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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case CAN::SET_LINE_FOLLOW_MSG: |
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chprintf((BaseSequentialStream*) &SD1, "Received Strategy!\n"); |
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if (frame->DLC == 1) {
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global.lfStrategy = frame->data8[0]; |
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global.msgReceived = true; |
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return RDY_OK; |
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} |
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break; |
| ... | ... | |
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frame.DLC = 6; |
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this->transmitMessage(&frame); |
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// Send the board ID (board ID of DiWheelDrive = Robot ID) |
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if (this->bcCounter % 10 == 0) {
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| 251 | 256 |
frame.SID = 0; |
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