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Implement simple SDK API

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This commit is contained in:
pgsocks
2023-02-21 15:08:56 -06:00
parent af5a6efdb3
commit 31d7e57125
15 changed files with 486 additions and 235 deletions
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src/modules/chassis.c
+15 -15
View File
@@ -4,30 +4,30 @@
void
set_wheel_speed (
Client session,
union Request* req,
uint16_t seq,
bool ack,
int16_t w1,
int16_t w2,
int16_t w3,
int16_t w4 ) {
union Request req = {0};
req.wheel.wheel_speed[0] = w1;
req.wheel.wheel_speed[1] = w2;
req.wheel.wheel_speed[2] = w3;
req.wheel.wheel_speed[3] = w4;
req_finalize(session, 0x3F, SET_WHEEL_SPEED_CMDID, host2byte(CHASSIS_HOST, CHASSIS_INDEX), false, sizeof(struct SetWheelSpeedReq), &req);
req_send(session->dev_conn, &req, sizeof(struct SetWheelSpeedReq));
req->wheel.wheel_speed[0] = w1;
req->wheel.wheel_speed[1] = w2;
req->wheel.wheel_speed[2] = w3;
req->wheel.wheel_speed[3] = w4;
req_finalize(seq, SET_WHEEL_SPEED_CMD, ack, req);
}
void
chassis_speed_mode (
Client session,
union Request* req,
uint16_t seq,
bool ack,
float x,
float y,
float z ) {
union Request req = {0};
req.chsspeed.speed[0] = x;
req.chsspeed.speed[1] = y;
req.chsspeed.speed[2] = z;
req_finalize(session, 0x3F, CHASSIS_SPEED_MODE_CMDID, host2byte(CHASSIS_HOST, CHASSIS_INDEX), false, sizeof(struct ChassisSpeedModeReq), &req);
req_send(session->dev_conn, &req, sizeof(struct ChassisSpeedModeReq));
req->chsspeed.speed[0] = x;
req->chsspeed.speed[1] = y;
req->chsspeed.speed[2] = z;
req_finalize(seq, CHASSIS_SPEED_MODE_CMD, ack, req);
}