Serial library for Ususama
Dependents: ususama_serial_demo WRS2021_mecanum_driver
Diff: ususama_controller.hpp
- Revision:
- 2:92e2ae1b1886
- Parent:
- 1:33d6c6f43306
- Child:
- 3:3625406774ec
diff -r 33d6c6f43306 -r 92e2ae1b1886 ususama_controller.hpp --- 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: