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cleanup: cleaned up a few comments and types

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This commit is contained in:
Ruixiang Du
2021-10-05 13:35:07 +08:00
parent 636ea8fd15
commit e68ecdf5f1
3 changed files with 6 additions and 11 deletions
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1
include/ugv_sdk/details/interface/agilex_message.h
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@@ -124,6 +124,7 @@ typedef struct {
uint8_t driver_state; uint8_t driver_state;
} ActuatorLSStateMessage; } ActuatorLSStateMessage;
// for ranger
typedef struct { typedef struct {
uint8_t motion_mode; uint8_t motion_mode;
uint8_t mode_changing; uint8_t mode_changing;

6
include/ugv_sdk/details/interface/agilex_types.h
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@@ -29,9 +29,9 @@ typedef struct {
} AgxLightOperation; } AgxLightOperation;
typedef enum { typedef enum {
VehicleStateNormal = 0x00, VEHICLE_STATE_NORMAL = 0x00,
VehicleStateEStop = 0x01, VEHICLE_STATE_ESTOP = 0x01,
VehicleStateException = 0x02 VEHICLE_STATE_EXCEPTION = 0x02
} AgxVehicleState; } AgxVehicleState;
typedef enum { typedef enum {

8
include/ugv_sdk/details/robot_base/agilex_base.hpp
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@@ -4,12 +4,6 @@
* Created on: Dec 22, 2020 17:14 * Created on: Dec 22, 2020 17:14
* Description: * Description:
* *
* Each robot class derived from this base class should provide implementation
* for the following two functions:
*
* - virtual void Connect(std::string dev_name) = 0;
* - virtual void ParseCANFrame(can_frame *rx_frame) = 0;
*
* Copyright (c) 2020 Ruixiang Du (rdu) * Copyright (c) 2020 Ruixiang Du (rdu)
*/ */
@@ -87,7 +81,7 @@ class AgilexBase : public RobotCommonInterface {
msg.body.motion_command_msg.steering_angle = steering_angle; msg.body.motion_command_msg.steering_angle = steering_angle;
} }
std::cout << "sending motion cmd: " << linear_vel << "," << angular_vel std::cout << "Sending motion cmd: " << linear_vel << ", " << angular_vel
<< ", " << lateral_vel << std::endl; << ", " << lateral_vel << std::endl;
// send to can bus // send to can bus