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added time stamp to robot states

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This commit is contained in:
Ruixiang Du
2021-07-15 15:25:49 +08:00
parent e96b078c05
commit f74ee40fc3
32 changed files with 248 additions and 328 deletions
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10
src/protocol_v2/agilex_msg_parser_v2.c
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@@ -182,11 +182,11 @@ bool DecodeCanFrameV2(const struct can_frame *rx_frame, AgxMessage *msg) {
((uint16_t)(frame->driver_voltage.low_byte) |
(uint16_t)(frame->driver_voltage.high_byte) << 8) *
0.1;
msg->body.actuator_ls_state_msg.driver_temperature =
(int16_t)((uint16_t)(frame->driver_temperature.low_byte) |
(uint16_t)(frame->driver_temperature.high_byte) << 8);
msg->body.actuator_ls_state_msg.motor_temperature =
frame->motor_temperature;
msg->body.actuator_ls_state_msg.driver_temp =
(int16_t)((uint16_t)(frame->driver_temp.low_byte) |
(uint16_t)(frame->driver_temp.high_byte) << 8);
msg->body.actuator_ls_state_msg.motor_temp =
frame->motor_temp;
msg->body.actuator_ls_state_msg.driver_state = frame->driver_state;
break;
}