pgsocks/robomaster-sdk
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Implement simple SDK API

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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/robomaster.c
+3 -4
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@@ -11,7 +11,6 @@ Client client_new() {
struct Client* client = malloc(sizeof(struct Client));
memset(client, 0, sizeof(struct Client));
// TODO: Make this configurable
client->hostbyte = host2byte(CLIENT_HOST, CLIENT_INDEX);
return client;
}
@@ -19,8 +18,6 @@ void client_connect(Client client) {
client->sdk_conn = connection_new(0, 0, 30030, "192.168.2.1");
// TODO: This should probably use the source IP in the response body
client->dev_conn = connection_new(10010, "192.168.2.24", 20020, "192.168.2.1");
set_sdk_connection(client, CONNECTION_WIFI_AP, 0, 10010);
}
void poll_message(Client client, union Message* resp) {
@@ -32,5 +29,7 @@ void poll_message(Client client, union Message* resp) {
void drive(Client client, float x, float y, float r) {
float w1 = y + x + r, w2 = y - x -r, w3 = y + x -r, w4 = y - x + r;
set_wheel_speed(client, w1 * 1000, -w2 * 1000, -w3 * 1000, w4 * 1000);
union Request req;
set_wheel_speed(&req, client->seq, false, w1 * 1000, -w2 * 1000, -w3 * 1000, w4 * 1000);
req_send(client->dev_conn, &req);
}