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read more motor data

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This commit is contained in:
wangzheqie
2021-04-23 15:07:31 +08:00
parent 74d2c7e894
commit 7520f1fd32
3 changed files with 15 additions and 5 deletions
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2
include/ugv_sdk/agilex_message.h
View File

@@ -123,7 +123,7 @@ typedef struct {
int8_t var_a;
} RcStateMessage;
// 0x251 - 0x254
// 0x251 - 0x258
typedef struct {
uint8_t motor_id;
int16_t rpm;

6
include/ugv_sdk/ranger_base.hpp
View File

@@ -24,10 +24,12 @@ struct RangerState {
MotionStateMessage motion_state;
LightStateMessage light_state;
RcStateMessage rc_state;
ActuatorHSStateMessage actuator_hs_state[4];
ActuatorLSStateMessage actuator_ls_state[4];
ActuatorHSStateMessage actuator_hs_state[8];
ActuatorLSStateMessage actuator_ls_state[8];
// sensor data
OdometryMessage odometry;

12
src/agx_msg_parser.c
View File

@@ -145,7 +145,11 @@ bool DecodeCanFrame(const struct can_frame *rx_frame, AgxMessage *msg) {
case CAN_MSG_ACTUATOR1_HS_STATE_ID:
case CAN_MSG_ACTUATOR2_HS_STATE_ID:
case CAN_MSG_ACTUATOR3_HS_STATE_ID:
case CAN_MSG_ACTUATOR4_HS_STATE_ID: {
case CAN_MSG_ACTUATOR4_HS_STATE_ID:
case CAN_MSG_ACTUATOR5_HS_STATE_ID:
case CAN_MSG_ACTUATOR6_HS_STATE_ID:
case CAN_MSG_ACTUATOR7_HS_STATE_ID:
case CAN_MSG_ACTUATOR8_HS_STATE_ID: {
msg->type = AgxMsgActuatorHSState;
ActuatorHSStateFrame *frame = (ActuatorHSStateFrame *)(rx_frame->data);
msg->body.actuator_hs_state_msg.motor_id =
@@ -167,7 +171,11 @@ bool DecodeCanFrame(const struct can_frame *rx_frame, AgxMessage *msg) {
case CAN_MSG_ACTUATOR1_LS_STATE_ID:
case CAN_MSG_ACTUATOR2_LS_STATE_ID:
case CAN_MSG_ACTUATOR3_LS_STATE_ID:
case CAN_MSG_ACTUATOR4_LS_STATE_ID: {
case CAN_MSG_ACTUATOR4_LS_STATE_ID:
case CAN_MSG_ACTUATOR5_LS_STATE_ID:
case CAN_MSG_ACTUATOR6_LS_STATE_ID:
case CAN_MSG_ACTUATOR7_LS_STATE_ID:
case CAN_MSG_ACTUATOR8_LS_STATE_ID: {
msg->type = AgxMsgActuatorLSState;
ActuatorLSStateFrame *frame = (ActuatorLSStateFrame *)(rx_frame->data);
msg->body.actuator_hs_state_msg.motor_id =