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added single wheel set protocol (W, label, control_type) #2

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Merged
merged 1 commit into from
Jan 22, 2024
Merged

added single wheel set protocol (W, label, control_type) #2

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15 changes: 14 additions & 1 deletion examples/firmware_01/firmware_01.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,8 @@ SensorTofMatrix tof(alvik.wire, EXT_GPIO3, EXT_GPIO2);
ucPack packeter(200);

uint8_t code;
uint8_t label;
uint8_t control_type;
uint8_t msg_size;

unsigned long tmotor=0;
Expand All @@ -31,7 +33,7 @@ unsigned long tsensor=0;
unsigned long timu=0;


float left, right;
float left, right, value;
uint8_t leds;

uint8_t sensor_id = 0;
Expand Down Expand Up @@ -74,6 +76,17 @@ void loop(){
case 'J':
packeter.unpacketC2F(code,left,right);
alvik.setRpm(left, right);
break;
case 'W':
packeter.unpacketC2B1F(code,label,control_type,value);
if ((label == 'L') && (control_type == 'V')) {
alvik.motor_control_left->setRPM(value);
}
else if ((label == 'R') && (control_type == 'V'))
{
alvik.motor_control_right->setRPM(value);
}

break;
/*
case 'S':
Expand Down