mirror of
https://github.com/westonrobot/ugv_sdk
synced 2023-04-08 06:32:14 +08:00
39 lines
1.3 KiB
C++
39 lines
1.3 KiB
C++
#include <iostream>
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#include "scout_base/details/scout_can_parser.hpp"
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using namespace westonrobot;
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void print_msg(uint8_t data[8])
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{
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for (int i = 0; i < 8; ++i)
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std::cout << std::hex << static_cast<int>(data[i]) << " ";
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std::cout << std::dec << std::endl;
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}
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int main()
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{
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MotionControlMessage msg;
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msg.msg.cmd.control_mode = CTRL_MODE_CMD_CAN;
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msg.msg.cmd.fault_clear_flag = FAULT_CLR_NONE;
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msg.msg.cmd.linear_velocity_cmd = 10;
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msg.msg.cmd.angular_velocity_cmd = 0;
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msg.msg.cmd.reserved0 = 0;
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msg.msg.cmd.reserved1 = 0;
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msg.msg.cmd.count = 0;
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msg.msg.cmd.checksum = ScoutCANParser::Agilex_CANMsgChecksum(ScoutCANParser::CAN_MSG_MOTION_CONTROL_CMD_ID, msg.msg.raw, msg.len);
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print_msg(msg.msg.raw);
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LightControlMessage msg2;
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msg2.msg.cmd.light_ctrl_enable = LIGHT_DISABLE_CTRL;
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msg2.msg.cmd.front_light_mode = LIGHT_MODE_CONST_ON;
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msg2.msg.cmd.front_light_custom = 0;
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msg2.msg.cmd.rear_light_mode = LIGHT_MODE_CONST_ON;
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msg2.msg.cmd.rear_light_custom = 0;
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msg2.msg.cmd.reserved0 = 0;
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msg2.msg.cmd.count = 0;
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msg2.msg.cmd.checksum = ScoutCANParser::Agilex_CANMsgChecksum(ScoutCANParser::CAN_MSG_LIGHT_CONTROL_CMD_ID, msg2.msg.raw, msg2.len);
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print_msg(msg2.msg.raw);
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return 0;
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} |