mirrors/ugv_sdk
1
0
Fork 0
mirror of https://github.com/westonrobot/ugv_sdk synced 2023-04-08 06:32:14 +08:00
Code Issues Packages Projects Releases Wiki Activity

read more motor data

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

2
include/ugv_sdk/agilex_message.h
View File

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

6
include/ugv_sdk/ranger_base.hpp
View File

@@ -24,10 +24,12 @@ struct RangerState {
MotionStateMessage motion_state; MotionStateMessage motion_state;
LightStateMessage light_state; LightStateMessage light_state;
RcStateMessage rc_state; RcStateMessage rc_state;
ActuatorHSStateMessage actuator_hs_state[4]; ActuatorHSStateMessage actuator_hs_state[8];
ActuatorLSStateMessage actuator_ls_state[4]; ActuatorLSStateMessage actuator_ls_state[8];
// sensor data // sensor data
OdometryMessage odometry; 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_ACTUATOR1_HS_STATE_ID:
case CAN_MSG_ACTUATOR2_HS_STATE_ID: case CAN_MSG_ACTUATOR2_HS_STATE_ID:
case CAN_MSG_ACTUATOR3_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; msg->type = AgxMsgActuatorHSState;
ActuatorHSStateFrame *frame = (ActuatorHSStateFrame *)(rx_frame->data); ActuatorHSStateFrame *frame = (ActuatorHSStateFrame *)(rx_frame->data);
msg->body.actuator_hs_state_msg.motor_id = 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_ACTUATOR1_LS_STATE_ID:
case CAN_MSG_ACTUATOR2_LS_STATE_ID: case CAN_MSG_ACTUATOR2_LS_STATE_ID:
case CAN_MSG_ACTUATOR3_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; msg->type = AgxMsgActuatorLSState;
ActuatorLSStateFrame *frame = (ActuatorLSStateFrame *)(rx_frame->data); ActuatorLSStateFrame *frame = (ActuatorLSStateFrame *)(rx_frame->data);
msg->body.actuator_hs_state_msg.motor_id = msg->body.actuator_hs_state_msg.motor_id =