Diff: ususama_controller.hpp

Revision:

2:92e2ae1b1886

Parent:

1:33d6c6f43306

Child:

3:3625406774ec

--- a/ususama_controller.hpp	Mon Aug 23 17:02:24 2021 +0000
+++ b/ususama_controller.hpp	Tue Aug 24 07:05:55 2021 +0000
@@ -50,9 +50,9 @@
     
     void reply_commad_pose()
     {        
-        pc_ -> writeData(pc_->_register[UsusamaProtocol::COMMAND_POSE_X], UsusamaProtocol::REPLY_STATE_X);
-        pc_ -> writeData(pc_->_register[UsusamaProtocol::COMMAND_POSE_Y], UsusamaProtocol::REPLY_STATE_Y);
-        pc_ -> writeData(pc_->_register[UsusamaProtocol::COMMAND_POSE_THETA], UsusamaProtocol::REPLY_STATE_THETA);
+        pc_ -> writeData(pc_->_register[UsusamaProtocol::COMMAND_POSE_X], UsusamaProtocol::REPLY_COMMAND_X);
+        pc_ -> writeData(pc_->_register[UsusamaProtocol::COMMAND_POSE_Y], UsusamaProtocol::REPLY_COMMAND_Y);
+        pc_ -> writeData(pc_->_register[UsusamaProtocol::COMMAND_POSE_THETA], UsusamaProtocol::REPLY_COMMAND_THETA);
     }
     
     void reply_current_pose(float x, float y, float theta)
@@ -88,15 +88,15 @@
                 break;
                 
             case UsusamaProtocol::COMMAND_POSE_X:
-                move_command.x = pc_->_register[UsusamaProtocol::COMMAND_POSE_X];
+                move_command.x = UsusamaProtocol::decode_int2float( pc_->_register[UsusamaProtocol::COMMAND_POSE_X] );
                 break;
                 
             case UsusamaProtocol::COMMAND_POSE_Y:
-                move_command.y = pc_->_register[UsusamaProtocol::COMMAND_POSE_Y];
+                move_command.y = UsusamaProtocol::decode_int2float( pc_->_register[UsusamaProtocol::COMMAND_POSE_Y] );
                 break;
                 
             case UsusamaProtocol::COMMAND_POSE_THETA:
-                move_command.theta = pc_->_register[UsusamaProtocol::COMMAND_POSE_THETA];
+                move_command.theta = UsusamaProtocol::decode_int2float( pc_->_register[UsusamaProtocol::COMMAND_POSE_THETA] );
                 break;
                 
             case UsusamaProtocol::COMMAND_STOP: