From a768ead9fdb99b631ddb4e56316fd2c6c3d3e823 Mon Sep 17 00:00:00 2001
From: Ruixiang Du <ruixiang.du@westonrobot.com>
Date: Wed, 17 Jun 2020 15:03:02 +0800
Subject: [PATCH] finished hunter HunterBase::SendRobotCmd()

---
 src/platforms/hunter_base.cpp | 14 +++++---------
 1 file changed, 5 insertions(+), 9 deletions(-)

diff --git a/src/platforms/hunter_base.cpp b/src/platforms/hunter_base.cpp
index c2378ef..7625511 100644
--- a/src/platforms/hunter_base.cpp
+++ b/src/platforms/hunter_base.cpp
@@ -14,7 +14,10 @@
 
 namespace westonrobot {
 
-void HunterBase::SendRobotCmd() {}
+void HunterBase::SendRobotCmd() {
+  static uint8_t cmd_count = 0;
+  SendMotionCmd(cmd_count++);
+}
 
 void HunterBase::SendMotionCmd(uint8_t count) {
   // motion control message
@@ -42,19 +45,12 @@ void HunterBase::SendMotionCmd(uint8_t count) {
   if (can_connected_)
     m_msg.body.motion_cmd_msg.data.cmd.checksum = CalcHunterCANChecksum(
         CAN_MSG_MOTION_CMD_ID, m_msg.body.motion_cmd_msg.data.raw, 8);
-  // serial_connected_: checksum will be calculated later when packed into a
-  // complete serial frame
 
+  // send to can bus
   if (can_connected_) {
-    // send to can bus
     can_frame m_frame;
     EncodeHunterMsgToCAN(&m_msg, &m_frame);
     can_if_->send_frame(m_frame);
-  } else {
-    // TODO
-    // send to serial port
-    // EncodeHunterMsgToUART(&m_msg, tx_buffer_, &tx_cmd_len_);
-    // serial_if_->send_bytes(tx_buffer_, tx_cmd_len_);
   }
 }