![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
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Dependencies: mbed BNO055_fusion Adafruit_GFX ros_lib_kinetic
Diff: myCan.cpp
- Revision:
- 7:b240464868e8
- Parent:
- 6:20a32baeff79
- Child:
- 8:80708bacb5b5
diff -r 20a32baeff79 -r b240464868e8 myCan.cpp --- a/myCan.cpp Tue Dec 18 21:51:13 2018 +0000 +++ b/myCan.cpp Tue Dec 18 22:06:34 2018 +0000 @@ -38,7 +38,6 @@ static uint32_t ts[2] = {0.0, 0.0}; static can_odom_xy_t xy; static can_odom_angle_t angle; - static float radian; switch(data[0]){ case ODOM_SET_INITIAL_XY: @@ -53,7 +52,6 @@ for(int i = 0; i < 8; i++){ angle.array[i] = data[i]; } - radian = DecodeFloat(angle.data.angle); ts[1] = timer_.read_ms(); break; @@ -64,7 +62,7 @@ } reset_pose(); - Vec3f initialpose(DecodeFixedNumber(xy.data.x), DecodeFixedNumber(xy.data.y), radian); + Vec3f initialpose(DecodeFixedNumber(xy.data.x), DecodeFixedNumber(xy.data.y), DecodeFloat(angle.data.angle)); set_initial_pose(initialpose); set_court_color((angle.data.court_color == 0) ? COURT_RED : COURT_BLUE); led_toggle_.call();