Revision d607fcef devices/DiWheelDrive/main.cpp
| devices/DiWheelDrive/main.cpp | ||
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void setGlobalStrategy(BaseSequentialStream *chp, int argc, char *argv[]){
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uint8_t strategy = 0; |
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if(argc == 1){
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global.lfStrategy = atoi(argv[0]); |
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strategy = atoi(argv[0]); |
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} |
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// send over can |
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global.strategyTest = strategy; |
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global.triggerCan = true; |
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} |
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void getPosition(BaseSequentialStream *chp, int argc, char *argv[]){
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types::position pos = global.odometry.getPosition(); |
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chprintf(chp, "Start: Position X: %d, Y: %d, Rotation X: %d, Y: %d, Z: %d\n", global.startPos.x, global.startPos.y, global.startPos.f_x, global.startPos.f_y, global.startPos.f_z); |
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