Reorganize messages into module groups

2023-02-02 01:14:29 -06:00
parent f0befa0b7b
commit 60673a5283
16 changed files with 271 additions and 314 deletions
@@ -0,0 +1,33 @@
+#include "message.h"
+#include "connection.h"
+#include "robomaster.h"
+
+void
+set_wheel_speed (
+		Client session,
+		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), true, sizeof(struct SetWheelSpeedReq), &req);
+    req_send(session->dev_conn, &req, sizeof(struct SetWheelSpeedReq));
+}
+
+void
+chassis_speed_mode (
+		Client session,
+		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));
+}