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add motion mode feedback

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This commit is contained in:
wangzheqie
2021-04-25 11:42:51 +08:00
parent 1f8ddc15ca
commit c1b53c167b
5 changed files with 31 additions and 4 deletions
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9
src/agx_msg_parser.c
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@@ -192,6 +192,15 @@ bool DecodeCanFrame(const struct can_frame *rx_frame, AgxMessage *msg) {
msg->body.actuator_ls_state_msg.driver_state = frame->driver_state;
break;
}
case CAN_MSG_CURRENT_CTRL_MODE:
{
msg->type=AgxMsgMotionModeState;
MotionModeStateFrame *frame = (MotionModeStateFrame*)(rx_frame->data);
msg->body.motion_mode_feedback_msg.motion_mode = frame->motion_mode;
msg->body.motion_mode_feedback_msg.mode_changing = frame->mode_changing;
break;
}
/****************** sensor frame *****************/
case CAN_MSG_ODOMETRY_ID: {
msg->type = AgxMsgOdometry;