Diff: main.cpp

Revision:

28:613239f10ba4

Parent:

27:627d67e3b9b0

Child:

29:b5b31256572b

--- a/main.cpp	Thu Dec 15 16:39:32 2016 +0000
+++ b/main.cpp	Thu Dec 15 16:42:16 2016 +0000
@@ -413,7 +413,7 @@
     if(frame_counter % 256 == 0) {
         float level = TFC_ReadBatteryVoltage() * 6.25;          
         pc.putc('J');
-        byte_float_union.a = level;
+        byte_float_union._float = level;
         pc.putc(byte_float_union.bytes[0]);
         pc.putc(byte_float_union.bytes[1]);
         pc.putc(byte_float_union.bytes[2]);
@@ -470,12 +470,12 @@
     
 
     pc.putc('B');
-    byte_float_union.a = wL * WHEEL_RADIUS;//left_motor_pid.output; //
+    byte_float_union._float = wL * WHEEL_RADIUS;//left_motor_pid.output; //
     pc.putc(byte_float_union.bytes[0]);
     pc.putc(byte_float_union.bytes[1]);
     pc.putc(byte_float_union.bytes[2]);
     pc.putc(byte_float_union.bytes[3]);
-    byte_float_union.a = wR * WHEEL_RADIUS; // right_motor_pid.output; //
+    byte_float_union._float = wR * WHEEL_RADIUS; // right_motor_pid.output; //
     pc.putc(byte_float_union.bytes[0]);
     pc.putc(byte_float_union.bytes[1]);
     pc.putc(byte_float_union.bytes[2]);
@@ -494,19 +494,19 @@
                         byte_float_union.bytes[1] = xb.cBuffer->read();
                         byte_float_union.bytes[2] = xb.cBuffer->read();
                         byte_float_union.bytes[3] = xb.cBuffer->read();
-                        servo_pid.Kp = byte_float_union.a; 
+                        servo_pid.Kp = byte_float_union._float; 
                         
                         byte_float_union.bytes[0] = xb.cBuffer->read();
                         byte_float_union.bytes[1] = xb.cBuffer->read();
                         byte_float_union.bytes[2] = xb.cBuffer->read();
                         byte_float_union.bytes[3] = xb.cBuffer->read();
-                        servo_pid.Ki = byte_float_union.a; 
+                        servo_pid.Ki = byte_float_union._float; 
                         
                         byte_float_union.bytes[0] = xb.cBuffer->read();
                         byte_float_union.bytes[1] = xb.cBuffer->read();
                         byte_float_union.bytes[2] = xb.cBuffer->read();
                         byte_float_union.bytes[3] = xb.cBuffer->read();
-                        servo_pid.Kd = byte_float_union.a; 
+                        servo_pid.Kd = byte_float_union._float; 
                         
                         sendString("pid= Kp: %f, Ki: %f, Kd: %f",  servo_pid.Kp, servo_pid.Ki, servo_pid.Kd);